Radar apparatus,system,and method

Abstract

For example, a processor may be configured to receive input radar data corresponding to radar Receive (Rx) signals received by Rx antennas based on radar Transmit (Tx) signals from Tx antennas; and to detect at least one interferer based on a predefined detection criterion applied to a plurality of two-dimensional (2D) range- angle maps based on the input radar data. For example, a 2D range-angle map may include a plurality of energy values mapped over a 2D spectrum including a range dimension and an angle dimension. For example, the processor may be configured to determine an estimated angle of the interferer and an estimated power level of the interferer based on the plurality of 2D range-angle maps, and to provide output data based on the estimated angle of the interferer and the estimated power level of the interferer.

Description

RADAR APPARATUS, SYSTEM, AND METHODCROSS REFERENCE

[0001] This application claims the benefit of, and priority from, US Provisional Patent Application No. 63 / 494,172 entitled “RADAR APPARATUS, SYSTEM, AND METHOD”, filed April 4, 2023, and US Provisional Patent Application No. 63 / 624,056 entitled “RADAR APPARATUS, SYSTEM, AND METHOD”, filed January 23, 2024, the entire disclosures of which are incorporated herein by reference.BACKGROUND

[0002] Various types of devices and systems, for example, autonomous and / or robotic devices, e.g., autonomous vehicles and robots, may be configured to perceive and navigate through their environment using sensor data of one or more sensor types.

[0003] Conventionally, autonomous perception relies heavily on light-based sensors, such as image sensors, e.g., cameras, and / or Light Detection and Ranging (LiDAR) sensors. Such light-based sensors may perform poorly under certain conditions, such as, conditions of poor visibility, or in certain inclement weather conditions, e.g., rain, snow, hail, or other forms of precipitation, thereby limiting their usefulness or reliability.BRIEF DESCRIPTION OF THE DRAWINGS

[0004] For simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity of presentation. Furthermore, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. The figures are listed below.

[0005] Fig. 1 is a schematic block diagram illustration of a vehicle implementing a radar, in accordance with some demonstrative aspects.

[0006] Fig. 2 is a schematic block diagram illustration of a robot implementing a radar, in accordance with some demonstrative aspects.

[0007] Fig. 3 is a schematic block diagram illustration of a radar apparatus, in accordance with some demonstrative aspects.

[0008] Fig. 4 is a schematic block diagram illustration of a Frequency-Modulated Continuous Wave (FMCW) radar apparatus, in accordance with some demonstrative aspects.

[0009] Fig. 5 is a schematic illustration of an extraction scheme, which may be implemented to extract range and speed (Doppler) estimations from digital reception radar data values, in accordance with some demonstrative aspects.

[0010] Fig. 6 is a schematic illustration of an angle-determination scheme, which may be implemented to determine Angle of Arrival (AoA) information based on an incoming radio signal received by a receive antenna array, in accordance with some demonstrative aspects.

[0011] Fig. 7 is a schematic illustration of a Multiple-Input-Multiple-Output (MIMO) radar antenna scheme, which may be implemented based on a combination of Transmit (Tx) and Receive (Rx) antennas, in accordance with some demonstrative aspects.

[0012] Fig. 8 is a schematic block diagram illustration of elements of a radar device including a radar frontend and a radar processor, in accordance with some demonstrative aspects.

[0013] Fig. 9 is a schematic illustration of a radar system including a plurality of radar devices implemented in a vehicle, in accordance with some demonstrative aspects.

[0014] Fig. 10 is a schematic illustration of a system 100, in accordance with some demonstrative aspects.

[0015] Fig. 11A, 11B and 11C are schematic illustrations of simulation results of interference detection for two interferers, in accordance with some demonstrative aspects.

[0016] Fig. 12 is a schematic flow-chart illustration of a method of interference detection, in accordance with some demonstrative aspects.

[0017] Fig. 13 is a schematic illustration of a product of manufacture, in accordance with some demonstrative aspects.DETAILED DESCRIPTION

[0018] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of some aspects. However, it will be understood by persons of ordinary skill in the art that some aspects may be practiced without these specific details. In other instances, well-known methods, procedures, components, units and / or circuits have not been described in detail so as not to obscure the discussion.

[0019] Discussions herein utilizing terms such as, for example, “processing”, “computing”, “calculating”, “determining”, “establishing”, “analyzing”, “checking”, or the like, may refer to operation(s) and / or process(es) of a computer, a computing platform, a computing system, or other electronic computing device, that manipulate and / or transform data represented as physical (e.g., electronic) quantities within the computer’s registers and / or memories into other data similarly represented as physical quantities within the computer’s registers and / or memories or other information storage medium that may store instructions to perform operations and / or processes.

[0020] The terms “plurality” and “a plurality”, as used herein, include, for example, “multiple” or “two or more”. For example, “a plurality of items” includes two or more items.

[0021] The words "exemplary" and “demonstrative” are used herein to mean "serving as an example, instance, demonstration, or illustration". Any aspect, or design described herein as "exemplary" or “demonstrative” is not necessarily to be construed as preferred or advantageous over other aspects, or designs.

[0022] References to “one aspect”, “an aspect”, “demonstrative aspect”, “various aspects” etc., indicate that the aspect(s) so described may include a particular feature, structure, or characteristic, but not every aspect necessarily includes the particular feature, structure, or characteristic. Further, repeated use of the phrase “in one aspect” does not necessarily refer to the same aspect, although it may.

[0023] As used herein, unless otherwise specified the use of the ordinal adjectives “first”, “second”, “third” etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to implythat the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.

[0024] The phrases “at least one” and “one or more” may be understood to include a numerical quantity greater than or equal to one, e.g., one, two, three, four, [...], etc. The phrase "at least one of" with regard to a group of elements may be used herein to mean at least one element from the group consisting of the elements. For example, the phrase "at least one of" with regard to a group of elements may be used herein to mean one of the listed elements, a plurality of one of the listed elements, a plurality of individual listed elements, or a plurality of a multiple of individual listed elements.

[0025] The term “data” as used herein may be understood to include information in any suitable analog or digital form, e.g., provided as a file, a portion of a file, a set of files, a signal or stream, a portion of a signal or stream, a set of signals or streams, and the like. Further, the term “data” may also be used to mean a reference to information, e.g., in form of a pointer. The term “data”, however, is not limited to the aforementioned examples and may take various forms and / or may represent any information as understood in the art.

[0026] The terms “processor” or “controller” may be understood to include any kind of technological entity that allows handling of any suitable type of data and / or information. The data and / or information may be handled according to one or more specific functions executed by the processor or controller. Further, a processor or a controller may be understood as any kind of circuit, e.g., any kind of analog or digital circuit. A processor or a controller may thus be or include an analog circuit, digital circuit, mixed-signal circuit, logic circuit, processor, microprocessor, Central Processing Unit (CPU), Graphics Processing Unit (GPU), Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), integrated circuit, Application Specific Integrated Circuit (ASIC), and the like, or any combination thereof. Any other kind of implementation of the respective functions, which will be described below in further detail, may also be understood as a processor, controller, or logic circuit. It is understood that any two (or more) processors, controllers, or logic circuits detailed herein may be realized as a single entity with equivalent functionality or the like, and conversely that any single processor, controller, or logic circuit detailed herein may be realized as two (or more) separate entities with equivalent functionality or the like.

[0027] The term “memory” is understood as a computer-readable medium (e.g., a non-transitory computer-readable medium) in which data or information can be stored for retrieval. References to “memory” may thus be understood as referring to volatile or non-volatile memory, including random access memory (RAM), read-only memory (ROM), flash memory, solid-state storage, magnetic tape, hard disk drive, optical drive, among others, or any combination thereof. Registers, shift registers, processor registers, data buffers, among others, are also embraced herein by the term memory. The term “software” may be used to refer to any type of executable instruction and / or logic, including firmware.

[0028] A “vehicle” may be understood to include any type of driven object. By way of example, a vehicle may be a driven object with a combustion engine, an electric engine, a reaction engine, an electrically driven object, a hybrid driven object, or a combination thereof. A vehicle may be, or may include, an automobile, a bus, a mini bus, a van, a truck, a mobile home, a vehicle trailer, a motorcycle, a bicycle, a tricycle, a train locomotive, a train wagon, a moving robot, a personal transporter, a boat, a ship, a submersible, a submarine, a drone, an aircraft, a rocket, among others.

[0029] A “ground vehicle” may be understood to include any type of vehicle, which is configured to traverse the ground, e.g., on a street, on a road, on a track, on one or more rails, off-road, or the like.

[0030] An “autonomous vehicle” may describe a vehicle capable of implementing at least one navigational change without driver input. A navigational change may describe or include a change in one or more of steering, braking, acceleration / deceleration, or any other operation relating to movement, of the vehicle. A vehicle may be described as autonomous even in case the vehicle is not fully autonomous, for example, fully operational with driver or without driver input. Autonomous vehicles may include those vehicles that can operate under driver control during certain time periods, and without driver control during other time periods. Additionally or alternatively, autonomous vehicles may include vehicles that control only some aspects of vehicle navigation, such as steering, e.g., to maintain a vehicle course between vehicle lane constraints, or some steering operations under certain circumstances, e.g., not under all circumstances, but may leave other aspects of vehicle navigation to the driver, e.g., braking or braking under certain circumstances.Additionally or alternatively, autonomous vehicles may include vehicles that share the control of one or more aspects of vehicle navigation under certain circumstances, e.g., hands-on, such as responsive to a driver input; and / or vehicles that control one or more aspects of vehicle navigation under certain circumstances, e.g., hands-off, such as independent of driver input. Additionally or alternatively, autonomous vehicles may include vehicles that control one or more aspects of vehicle navigation under certain circumstances, such as under certain environmental conditions, e.g., spatial areas, roadway conditions, or the like. In some aspects, autonomous vehicles may handle some or all aspects of braking, speed control, velocity control, steering, and / or any other additional operations, of the vehicle. An autonomous vehicle may include those vehicles that can operate without a driver. The level of autonomy of a vehicle may be described or determined by the Society of Automotive Engineers (SAE) level of the vehicle, e.g., as defined by the SAE, for example in SAE J3016 2018: Taxonomy and definitions for terms related to driving automation systems for on road motor vehicles, or by other relevant professional organizations. The SAE level may have a value ranging from a minimum level, e.g., level 0 (illustratively, substantially no driving automation), to a maximum level, e.g., level 5 (illustratively, full driving automation).

[0031] An “assisted vehicle” may describe a vehicle capable of informing a driver or occupant of the vehicle of sensed data or information derived therefrom.

[0032] The phrase “vehicle operation data” may be understood to describe any type of feature related to the operation of a vehicle. By way of example, “vehicle operation data” may describe the status of the vehicle, such as, the type of tires of the vehicle, the type of vehicle, and / or the age of the manufacturing of the vehicle. More generally, “vehicle operation data” may describe or include static features or static vehicle operation data (illustratively, features or data not changing over time). As another example, additionally or alternatively, “vehicle operation data” may describe or include features changing during the operation of the vehicle, for example, environmental conditions, such as weather conditions or road conditions during the operation of the vehicle, fuel levels, fluid levels, operational parameters of the driving source of the vehicle, or the like. More generally, “vehicle operation data” may describe or include varying features or varying vehicle operation data (illustratively, time varying features or data).

[0033] Some aspects may be used in conjunction with various devices and systems, for example, a radar sensor, a radar device, a radar system, a vehicle, a vehicular system, an autonomous vehicular system, a vehicular communication system, a vehicular device, an airborne platform, a waterborne platform, road infrastructure, sports-capture infrastructure, city monitoring infrastructure, static infrastructure platforms, indoor platforms, moving platforms, robot platforms, industrial platforms, a sensor device, a User Equipment (UE), a Mobile Device (MD), a wireless station (STA), a sensor device, a non-vehicular device, a mobile or portable device, and the like.

[0034] Some aspects may be used in conjunction with Radio Frequency (RF) systems, radar systems, vehicular radar systems, autonomous systems, robotic systems, detection systems, or the like.

[0035] Some demonstrative aspects may be used in conjunction with an RF frequency in a frequency band having a starting frequency above 10 Gigahertz (GHz), for example, a frequency band having a starting frequency between 10GHz and 120GHz. For example, some demonstrative aspects may be used in conjunction with an RF frequency having a starting frequency above 30GHz, for example, above 45GHz, e.g., above 60GHz. For example, some demonstrative aspects may be used in conjunction with an automotive radar frequency band, e.g., a frequency band between 76GHz and 81 GHz. However, other aspects may be implemented utilizing any other suitable frequency bands, for example, a frequency band above 140GHz, a frequency band of 300GHz, a sub Terahertz (THz) band, a THz band, an Infra-Red (IR) band, and / or any other frequency band.

[0036] As used herein, the term "circuitry" may refer to, be part of, or include, an Application Specific Integrated Circuit (ASIC), an integrated circuit, an electronic circuit, a processor (shared, dedicated, or group), and / or memory (shared, dedicated, or group), that execute one or more software or firmware programs, a combinational logic circuit, and / or other suitable hardware components that provide the described functionality. In some aspects, some functions associated with the circuitry may be implemented by, one or more software or firmware modules. In some aspects, circuitry may include logic, at least partially operable in hardware.

[0037] The term “logic” may refer, for example, to computing logic embedded in circuitry of a computing apparatus and / or computing logic stored in a memory of acomputing apparatus. For example, the logic may be accessible by a processor of the computing apparatus to execute the computing logic to perform computing functions and / or operations. In one example, logic may be embedded in various types of memory and / or firmware, e.g., silicon blocks of various chips and / or processors. Logic may be included in, and / or implemented as part of, various circuitry, e.g., radio circuitry, receiver circuitry, control circuitry, transmitter circuitry, transceiver circuitry, processor circuitry, and / or the like. In one example, logic may be embedded in volatile memory and / or non-volatile memory, including random access memory, read only memory, programmable memory, magnetic memory, flash memory, persistent memory, and / or the like. Logic may be executed by one or more processors using memory, e.g., registers, buffers, stacks, and the like, coupled to the one or more processors, e.g., as necessary to execute the logic.

[0038] The term “communicating” as used herein with respect to a signal includes transmitting the signal and / or receiving the signal. For example, an apparatus, which is capable of communicating a signal, may include a transmitter to transmit the signal, and / or a receiver to receive the signal. The verb communicating may be used to refer to the action of transmitting or the action of receiving. In one example, the phrase “communicating a signal” may refer to the action of transmitting the signal by a transmitter, and may not necessarily include the action of receiving the signal by a receiver. In another example, the phrase “communicating a signal” may refer to the action of receiving the signal by a receiver, and may not necessarily include the action of transmitting the signal by a transmitter.

[0039] The term “antenna”, as used herein, may include any suitable configuration, structure and / or arrangement of one or more antenna elements, components, units, assemblies and / or arrays. In some aspects, the antenna may implement transmit and receive functionalities using separate transmit and receive antenna elements. In some aspects, the antenna may implement transmit and receive functionalities using common and / or integrated transmit / receive elements. The antenna may include, for example, a phased array antenna, a MIMO (Multiple-Input Multiple-Output) array antenna, a single element antenna, a set of switched beam antennas, and / or the like. In one example, an antenna may be implemented as a separate element or an integratedelement, for example, as an on-module antenna, an on-chip antenna, or according to any other antenna architecture.

[0040] Some demonstrative aspects are described herein with respect to RF radar signals. However, other aspects may be implemented with respect to, or in conjunction with, any other radar signals, wireless signals, IR signals, acoustic signals, optical signals, wireless communication signals, communication scheme, network, standard, and / or protocol. For example, some demonstrative aspects may be implemented with respect to systems, e.g., Light Detection Ranging (LiDAR) systems, and / or sonar systems, utilizing light and / or acoustic signals.

[0041] Reference is now made to Fig. 1, which schematically illustrates a block diagram of a vehicle 100 implementing a radar, in accordance with some demonstrative aspects.

[0042] In some demonstrative aspects, vehicle 100 may include a car, a truck, a motorcycle, a bus, a train, an airborne vehicle, a waterborne vehicle, a cart, a golf cart, an electric cart, a road agent, or any other vehicle.

[0043] In some demonstrative aspects, vehicle 100 may include a radar device 101, e.g., as described below. For example, radar device 101 may include a radar detecting device, a radar sensing device, a radar sensor, or the like, e.g., as described below.

[0044] In some demonstrative aspects, radar device 101 may be implemented as part of a vehicular system, for example, a system to be implemented and / or mounted in vehicle 100.

[0045] In one example, radar device 101 may be implemented as part of an autonomous vehicle system, an automated driving system, an assisted vehicle system, a driver assistance and / or support system, and / or the like.

[0046] For example, radar device 101 may be installed in vehicle 100 for detection of nearby objects, e.g., for autonomous driving.

[0047] In some demonstrative aspects, radar device 101 may be configured to detect targets in a vicinity of vehicle 100, e.g., in a far vicinity and / or a near vicinity, for example, using RF and analog chains, capacitor structures, large spiral transformers and / or any other electronic or electrical elements, e.g., as described below.

[0048] In one example, radar device 101 may be mounted onto, placed, e.g., directly, onto, or attached to, vehicle 100.

[0049] In some demonstrative aspects, vehicle 100 may include a plurality of radar aspects, vehicle 100 may include a single radar device 101.

[0050] In some demonstrative aspects, vehicle 100 may include a plurality of radar devices 101, which may be configured to cover a field of view of 360 degrees around vehicle 100.

[0051] In other aspects, vehicle 100 may include any other suitable count, arrangement, and / or configuration of radar devices and / or units, which may be suitable to cover any other field of view, e.g., a field of view of less than 360 degrees.

[0052] In some demonstrative aspects, radar device 101 may be implemented as a component in a suite of sensors used for driver assistance and / or autonomous vehicles, for example, due to the ability of radar to operate in nearly all-weather conditions.

[0053] In some demonstrative aspects, radar device 101 may be configured to support autonomous vehicle usage, e.g., as described below.

[0054] In one example, radar device 101 may determine a class, a location, an orientation, a velocity, an intention, a perceptional understanding of the environment, and / or any other information corresponding to an object in the environment.

[0055] In another example, radar device 101 may be configured to determine one or more parameters and / or information for one or more operations and / or tasks, e.g., path planning, and / or any other tasks.

[0056] In some demonstrative aspects, radar device 101 may be configured to map a scene by measuring targets’ echoes (reflectivity) and discriminating them, for example, mainly in range, velocity, azimuth and / or elevation, e.g., as described below.

[0057] In some demonstrative aspects, radar device 101 may be configured to detect, and / or sense, one or more objects, which are located in a vicinity, e.g., a far vicinity and / or a near vicinity, of the vehicle 100, and to provide one or more parameters, attributes, and / or information with respect to the objects.

[0058] In some demonstrative aspects, the objects may include road users, such as other vehicles, pedestrians; road objects and markings, such as traffic signs, trafficlights, lane markings, road markings, road elements, e.g., a pavement-road meeting, a road edge, a road profile, road roughness (or smoothness); general objects, such as a hazard, e.g., a tire, a box, a crack in the road surface; and / or the like.

[0059] In some demonstrative aspects, the one or more parameters, attributes and / or information with respect to the object may include a range of the objects from the vehicle 100, an angle of the object with respect to the vehicle 100, a location of the object with respect to the vehicle 100, a relative speed of the object with respect to vehicle 100, and / or the like.

[0060] In some demonstrative aspects, radar device 101 may include a Multiple Input Multiple Output (MIMO) radar device 101, e.g., as described below. In one example, the MIMO radar device may be configured to utilize “spatial filtering” processing, for example, beamforming and / or any other mechanism, for one or both of Transmit (Tx) signals and / or Receive (Rx) signals.

[0061] Some demonstrative aspects are described below with respect to a radar device, e.g., radar device 101, implemented as a MIMO radar. However, in other aspects, radar device 101 may be implemented as any other type of radar utilizing a plurality of antenna elements, e.g., a Single Input Multiple Output (SIMO) radar or a Multiple Input Single output (MISO) radar.

[0062] Some demonstrative aspects may be implemented with respect to a radar device, e.g., radar device 101, implemented as a MIMO radar, e.g., as described below. However, in other aspects, radar device 101 may be implemented as any other type of radar, for example, an Electronic Beam Steering radar, a Synthetic Aperture Radar (SAR), adaptive and / or cognitive radars that change their transmission according to the environment and / or ego state, a reflect array radar, or the like.

[0063] In some demonstrative aspects, radar device 101 may include an antenna arrangement 102, a radar frontend 103 configured to communicate radar signals via the antenna arrangement 102, and a radar processor 104 configured to generate radar information based on the radar signals, e.g., as described below.

[0064] In some demonstrative aspects, radar processor 104 may be configured to process radar information of radar device 101 and / or to control one or more operations of radar device 101, e.g., as described below.

[0065] In some demonstrative aspects, radar processor 104 may include, or may be implemented, partially or entirely, by circuitry and / or logic, e.g., one or more processors including circuitry and / or logic, memory circuitry and / or logic. Additionally or alternatively, one or more functionalities of radar processor 104 may be implemented by logic, which may be executed by a machine and / or one or more processors, e.g., as described below.

[0066] In one example, radar processor 104 may include at least one memory, e.g., coupled to the one or more processors, which may be configured, for example, to store, e.g., at least temporarily, at least some of the information processed by the one or more processors and / or circuitry, and / or which may be configured to store logic to be utilized by the processors and / or circuitry.

[0067] In other aspects, radar processor 104 may be implemented by one or more additional or alternative elements of vehicle 100.

[0068] In some demonstrative aspects, radar frontend 103 may include, for example, one or more (radar) transmitters, and a one or more (radar) receivers, e.g., as described below.

[0069] In some demonstrative aspects, antenna arrangement 102 may include a plurality of antennas to communicate the radar signals. For example, antenna arrangement 102 may include multiple transmit antennas in the form of a transmit antenna array, and multiple receive antennas in the form of a receive antenna array. In another example, antenna arrangement 102 may include one or more antennas used both as transmit and receive antennas. In the latter case, the radar frontend 103, for example, may include a duplexer or a circulator, e.g., a circuit to separate transmitted signals from received signals.

[0070] In some demonstrative aspects, as shown in Fig. 1, the radar frontend 103 and the antenna arrangement 102 may be controlled, e.g., by radar processor 104, to transmit a radio transmit signal 105.

[0071] In some demonstrative aspects, as shown in Fig. 1, the radio transmit signal 105 may be reflected by an object 106, resulting in an echo 107.

[0072] In some demonstrative aspects, the radar device 101 may receive the echo 107, e.g., via antenna arrangement 102 and radar frontend 103, and radar processor 104may generate radar information, for example, by calculating information about position, radial velocity (Doppler), and / or direction of the object 106, e.g., with respect to vehicle 100.

[0073] In some demonstrative aspects, radar processor 104 may be configured to provide the radar information to a vehicle controller 108 of the vehicle 100, e.g., for autonomous driving of the vehicle 100.

[0074] In some demonstrative aspects, at least part of the functionality of radar processor 104 may be implemented as part of vehicle controller 108. In other aspects, the functionality of radar processor 104 may be implemented as part of any other element of radar device 101 and / or vehicle 100. In other aspects, radar processor 104 may be implemented, as a separate part of, or as part of any other element of radar device 101 and / or vehicle 100.

[0075] In some demonstrative aspects, vehicle controller 108 may be configured to control one or more functionalities, modes of operation, components, devices, systems and / or elements of vehicle 100.

[0076] In some demonstrative aspects, vehicle controller 108 may be configured to control one or more vehicular systems of vehicle 100, e.g., as described below.

[0077] In some demonstrative aspects, the vehicular systems may include, for example, a steering system, a braking system, a driving system, and / or any other system of the vehicle 100.

[0078] In some demonstrative aspects, vehicle controller 108 may configured to control radar device 101, and / or to process one or parameters, attributes and / or information from radar device 101.

[0079] In some demonstrative aspects, vehicle controller 108 may be configured, for example, to control the vehicular systems of the vehicle 100, for example, based on radar information from radar device 101 and / or one or more other sensors of the vehicle 100, e.g., Light Detection and Ranging (LIDAR) sensors, camera sensors, and / or the like.

[0080] In one example, vehicle controller 108 may control the steering system, the braking system, and / or any other vehicular systems of vehicle 100, for example, basedon the information from radar device 101, e.g., based on one or more objects detected by radar device 101.

[0081] In other aspects, vehicle controller 108 may be configured to control any other additional or alternative functionalities of vehicle 100.

[0082] Some demonstrative aspects are described herein with respect to a radar device 101 implemented in a vehicle, e.g., vehicle 100. In other aspects a radar device, e.g., radar device 101, may be implemented as part of any other element of a traffic system or network, for example, as part of a road infrastructure, and / or any other element of a traffic network or system. Other aspects may be implemented with respect to any other system, environment and / or apparatus, which may be implemented in any other object, environment, location, or place. For example, radar device 101 may be part of a non- vehicular device, which may be implemented, for example, in an indoor location, a stationary infrastructure outdoors, or any other location.

[0083] In some demonstrative aspects, radar device 101 may be configured to support security usage. In one example, radar device 101 may be configured to determine a nature of an operation, e.g., a human entry, an animal entry, an environmental movement, and the like, to identity a threat level of a detected event, and / or any other additional or alternative operations.

[0084] Some demonstrative aspects may be implemented with respect to any other additional or alternative devices and / or systems, for example, for a robot, e.g., as described below.

[0085] In other aspects, radar device 101 may be configured to support any other usages and / or applications.

[0086] Reference is now made to Fig. 2, which schematically illustrates a block diagram of a robot 200 implementing a radar, in accordance with some demonstrative aspects.

[0087] In some demonstrative aspects, robot 200 may include a robot arm 201. The robot 200 may be implemented, for example, in a factory for handling an object 213, which may be, for example, a part that should be affixed to a product that is being manufactured. The robot arm 201 may include a plurality of movable members, for example, movable members 202, 203, 204, and a support 205. Moving the movablemembers 202, 203, and / or 204 of the robot arm 201, e.g., by actuation of associated motors, may allow physical interaction with the environment to carry out a task, e.g., handling the object 213.

[0088] In some demonstrative aspects, the robot arm 201 may include a plurality of joint elements, e.g., joint elements 207, 208, 209, which may connect, for example, the members 202, 203, and / or 204 with each other, and with the support 205. For example, a joint element 207, 208, 209 may have one or more joints, each of which may provide rotatable motion, e.g., rotational motion, and / or translatory motion, e.g., displacement, to associated members and / or motion of members relative to each other. The movement of the members 202, 203, 204 may be initiated by suitable actuators.

[0089] In some demonstrative aspects, the member furthest from the support 205, e.g., member 204, may also be referred to as the end-effector 204 and may include one or more tools, such as, a claw for gripping an object, a welding tool, or the like. Other members, e.g., members 202, 203, closer to the support 205, may be utilized to change the position of the end-effector 204, e.g., in three-dimensional space. For example, the robot arm 201 may be configured to function similarly to a human arm, e.g., possibly with a tool at its end.

[0090] In some demonstrative aspects, robot 200 may include a (robot) controller 206 configured to implement interaction with the environment, e.g., by controlling the robot arm’s actuators, according to a control program, for example, in order to control the robot arm 201 according to the task to be performed.

[0091] In some demonstrative aspects, an actuator may include a component adapted to affect a mechanism or process in response to being driven. The actuator can respond to commands given by the controller 206 (the so-called activation) by performing mechanical movement. This means that an actuator, typically a motor (or electromechanical converter), may be configured to convert electrical energy into mechanical energy when it is activated (i.e. actuated).

[0092] In some demonstrative aspects, controller 206 may be in communication with a radar processor 210 of the robot 200.

[0093] In some demonstrative aspects, a radar fronted 211 and a radar antenna arrangement 212 may be coupled to the radar processor 210. In one example, radarfronted 211 and / or radar antenna arrangement 212 may be included, for example, as part of the robot arm 201.

[0094] In some demonstrative aspects, the radar frontend 211, the radar antenna arrangement 212 and the radar processor 210 may be operable as, and / or may be configured to form, a radar device. For example, antenna arrangement 212 may be configured to perform one or more functionalities of antenna arrangement 102 (Fig. 1), radar frontend 211 may be configured to perform one or more functionalities of radar frontend 103 (Fig. 1), and / or radar processor 210 may be configured to perform one or more functionalities of radar processor 104 (Fig. 1), e.g., as described above.

[0095] In some demonstrative aspects, for example, the radar frontend 211 and the antenna arrangement 212 may be controlled, e.g., by radar processor 210, to transmit a radio transmit signal 214.

[0096] In some demonstrative aspects, as shown in Fig. 2, the radio transmit signal 214 may be reflected by the object 213, resulting in an echo 215.

[0097] In some demonstrative aspects, the echo 215 may be received, e.g., via antenna arrangement 212 and radar frontend 211, and radar processor 210 may generate radar information, for example, by calculating information about position, speed (Doppler) and / or direction of the object 213, e.g., with respect to robot arm 201.

[0098] In some demonstrative aspects, radar processor 210 may be configured to provide the radar information to the robot controller 206 of the robot arm 201, e.g., to control robot arm 201. For example, robot controller 206 may be configured to control robot arm 201 based on the radar information, e.g., to grab the object 213 and / or to perform any other operation.

[0099] Reference is made to Fig. 3, which schematically illustrates a radar apparatus 300, in accordance with some demonstrative aspects.[000100] In some demonstrative aspects, radar apparatus 300 may be implemented as part of a device or system 301, e.g., as described below.[000101] For example, radar apparatus 300 may be implemented as part of, and / or may configured to perform one or more operations and / or functionalities of, the devices or systems described above with reference to Fig. 1 an / or Fig. 2. In other aspects, radar apparatus 300 may be implemented as part of any other device or system 301.[000102] In some demonstrative aspects, radar device 300 may include an antenna arrangement, which may include one or more transmit antennas 302 and one or more receive antennas 303. In other aspects, any other antenna arrangement may be implemented.[000103] In some demonstrative aspects, radar device 300 may include a radar frontend 304, and a radar processor 309.[000104] In some demonstrative aspects, as shown in Fig. 3, the one or more transmit antennas 302 may be coupled with a transmitter (or transmitter arrangement) 305 of the radar frontend 304; and / or the one or more receive antennas 303 may be coupled with a receiver (or receiver arrangement) 306 of the radar frontend 304, e.g., as described below.[000105] In some demonstrative aspects, transmitter 305 may include one or more elements, for example, an oscillator, a power amplifier and / or one or more other elements, configured to generate radio transmit signals to be transmitted by the one or more transmit antennas 302, e.g., as described below.[000106] In some demonstrative aspects, for example, radar processor 309 may provide digital radar transmit data values to the radar frontend 304. For example, radar frontend 304 may include a Digital-to-Analog Converter (DAC) 307 to convert the digital radar transmit data values to an analog transmit signal. The transmitter 305 may convert the analog transmit signal to a radio transmit signal which is to be transmitted by transmit antennas 302.[000107] In some demonstrative aspects, receiver 306 may include one or more elements, for example, one or more mixers, one or more filters and / or one or more other elements, configured to process, down-convert, radio signals received via the one or more receive antennas 303, e.g., as described below.[000108] In some demonstrative aspects, for example, receiver 306 may convert a radio receive signal received via the one or more receive antennas 303 into an analog receive signal. The radar frontend 304 may include an Analog-to-Digital Converter (ADC) 308 to generate digital radar reception data values based on the analog receive signal. For example, radar frontend 304 may provide the digital radar reception data values to the radar processor 309.[000109] In some demonstrative aspects, radar processor 309 may be configured to process the digital radar reception data values, for example, to detect one or more objects, e.g., in an environment of the device / system 301. This detection may include, for example, the determination of information including one or more of range, speed (Doppler), direction, and / or any other information, of one or more objects, e.g., with respect to the system 301.[000110] In some demonstrative aspects, radar processor 309 may be configured to provide the determined radar information to a system controller 310 of device / system 301. For example, system controller 310 may include a vehicle controller, e.g., if device / system 301 includes a vehicular device / system, a robot controller, e.g., if device / system 301 includes a robot device / system, or any other type of controller for any other type of device / system 301.[000111] In some demonstrative aspects, the radar information from radar processor 309 may be processed, e.g., by system controller 310 and / or any other element of system 301, for example, in combination with information from one or more other of information sources, for example, LiDAR information from a LiDAR processor, vision information from a vision-based processor, or the like.[000112] In some demonstrative aspects, an environmental model of an environment of system 301 may be determined, e.g., by system controller 310 and / or any other element of system 301, for example, based on the radar information from radar processor 309, and / or the information from one or more other of information sources.[000113] In some demonstrative aspects, a driving policy system, e.g., which may be implemented by system controller 310 and / or any other element of system 301, may process the environmental model, for example, to decide on one or more actions, which may be taken.[000114] In some demonstrative aspects, system controller 310 may be configured to control one or more controlled system components 311 of the system 301, e.g. a motor, a brake, steering, and the like, e.g. by one or more corresponding actuators, for example, based on the one or more action decisions.[000115] In some demonstrative aspects, radar device 300 may include a storage 312 or a memory 313, e.g., to store information processed by radar 300, for example, digitalradar reception data values being processed by the radar processor 309, radar information generated by radar processor 309, and / or any other data to be processed by radar processor 309.[000116] In some demonstrative aspects, device / system 301 may include, for example, an application processor 314 and / or a communication processor 315, for example, to at least partially implement one or more functionalities of system controller 310 and / or to perform communication between system controller 310, radar device 300, the controlled system components 311, and / or one or more additional elements of device / system 301.[000117] In some demonstrative aspects, radar device 300 may be configured to generate and transmit the radio transmit signal in a form, which may support determination of range, speed, and / or direction, e.g., as described below.[000118] For example, a radio transmit signal of a radar may be configured to include a plurality of pulses. For example, a pulse transmission may include the transmission of short high-power bursts in combination with times during which the radar device listens for echoes.[000119] For example, in order to more optimally support a highly dynamic situation, e.g., in an automotive scenario, a Continuous Wave (CW) may instead be used as the radio transmit signal. However, a continuous wave, e.g., with constant frequency, may support velocity determination, but may not allow range determination, e.g., due to the lack of a time mark that could allow distance calculation.[000120] In some demonstrative aspects, radio transmit signal 105 (Fig. 1) may be transmitted according to technologies such as, for example, Frequency-Modulated continuous wave (FMCW) radar, Phase-Modulated Continuous Wave (PMCW) radar, Orthogonal Frequency Division Multiplexing (OFDM) radar, and / or any other type of radar technology, which may support determination of range, velocity, and / or direction, e.g., as described below.[000121] Reference is made to Fig. 4, which schematically illustrates a FMCW radar apparatus, in accordance with some demonstrative aspects.[000122] In some demonstrative aspects, FMCW radar device 400 may include a radar frontend 401, and a radar processor 402. For example, radar frontend 304 (Fig. 3) mayinclude one or more elements of, and / or may perform one or more operations and / or functionalities of, radar frontend 401; and / or radar processor 309 (Fig. 3) may include one or more elements of, and / or may perform one or more operations and / or functionalities of, radar processor 402.[000123] In some demonstrative aspects, FMCW radar device 400 may be configured to communicate radio signals according to an FMCW radar technology, e.g., rather than sending a radio transmit signal with a constant frequency.[000124] In some demonstrative aspects, radio frontend 401 may be configured to ramp up and reset the frequency of the transmit signal, e.g., periodically, for example, according to a saw tooth waveform 403. In other aspects, a triangle waveform, or any other suitable waveform may be used.[000125] In some demonstrative aspects, for example, radar processor 402 may be configured to provide waveform 403 to frontend 401, for example, in digital form, e.g., as a sequence of digital values.[000126] In some demonstrative aspects, radar frontend 401 may include a DAC 404 to convert waveform 403 into analog form, and to supply it to a voltage-controlled oscillator 405. For example, oscillator 405 may be configured to generate an output signal, which may be frequency-modulated in accordance with the waveform 403.[000127] In some demonstrative aspects, oscillator 405 may be configured to generate the output signal including a radio transmit signal, which may be fed to and sent out by one or more transmit antennas 406.[000128] In some demonstrative aspects, the radio transmit signal generated by the oscillator 405 may have the form of a sequence of chirps 407, which may be the result of the modulation of a sinusoid with the saw tooth waveform 403.[000129] In one example, a chirp 407 may correspond to the sinusoid of the oscillator signal frequency-modulated by a “tooth” of the saw tooth waveform 403, e.g., from the minimum frequency to the maximum frequency.[000130] In some demonstrative aspects, a radar device may be configured to utilize radio transmit signals having a form of chirps, e.g., chirps 407, for example, according to a chirp modulation, e.g., as described below.[000131] In other aspects, the radar device may be configured to utilize radio transmit signals configured according to a Phase Modulation (PM), a digital modulation, an OFDM modulation, and / or any other suitable type of modulation.[000132] In some demonstrative aspects, FMCW radar device 400 may include one or more receive antennas 408 to receive a radio receive signal. The radio receive signal may be based on the echo of the radio transmit signal, e.g., in addition to any noise, interference, or the like.[000133] In some demonstrative aspects, radar frontend 401 may include a mixer 409 to mix the radio transmit signal with the radio receive signal into a mixed signal.[000134] In some demonstrative aspects, radar frontend 401 may include a filter, e.g., a Low Pass Filter (LPF) 410, which may be configured to filter the mixed signal from the mixer 409 to provide a filtered signal. For example, radar frontend 401 may include an ADC 411 to convert the filtered signal into digital reception data values, which may be provided to radar processor 402. In another example, the filter 410 may be a digital filter, and the ADC 411 may be arranged between the mixer 409 and the filter 410.[000135] In some demonstrative aspects, radar processor 402 may be configured to process the digital reception data values to provide radar information, for example, including range, speed (velocity / Doppler), and / or direction (AoA) information of one or more objects.[000136] In some demonstrative aspects, radar processor 402 may be configured to perform a first Fast Fourier Transform (FFT) (also referred to as “range FFT”) to extract a delay response, which may be used to extract range information, and / or a second FFT (also referred to as “Doppler FFT”) to extract a Doppler shift response, which may be used to extract velocity information, from the digital reception data values.[000137] In other aspects, any other additional or alternative methods may be utilized to extract range information. In one example, in a digital radar implementation, a correlation with the transmitted signal may be used, e.g., according to a matched filter implementation.[000138] Reference is made to Fig. 5, which schematically illustrates an extraction scheme, which may be implemented to extract range and speed (Doppler) estimations from digital reception radar data values, in accordance with some demonstrativeaspects. For example, radar processor 104 (Fig. 1), radar processor 210 (Fig. 2), radar processor 309 (Fig. 3), and / or radar processor 402 (Fig. 4), may be configured to extract range and / or speed (Doppler) estimations from digital reception radar data values according to one or more aspects of the extraction scheme of Fig. 5.[000139] In some demonstrative aspects, as shown in Fig. 5, a radio receive signal, e.g., including echoes of a radio transmit signal, may be received by a receive antenna array 501. The radio receive signal may be processed by a radio radar frontend 502 to generate digital reception data values, e.g., as described above. The radio radar frontend 502 may provide the digital reception data values to a radar processor 503, which may process the digital reception data values to provide radar information, e.g., as described above.[000140] In some demonstrative aspects, the digital reception data values may be represented in the form of a data cube 504. For example, the data cube 504 may include digitized samples of the radio receive signal, which is based on a radio signal transmitted from a transmit antenna and received by M receive antennas. In some demonstrative aspects, for example, with respect to a MIMO implementation, there may be multiple transmit antennas, and the number of samples may be multiplied accordingly.[000141] In some demonstrative aspects, a layer of the data cube 504, for example, a horizontal layer of the data cube 504, may include samples of an antenna, e.g., a respective antenna of the M antennas.[000142] In some demonstrative aspects, data cube 504 may include samples for K chirps. For example, as shown in Fig. 5, the samples of the chirps may be arranged in a so-called “slow time” direction.[000143] In some demonstrative aspects, the data cube 504 may include L samples, e.g., L = 512 or any other number of samples, for a chirp, e.g., per each chirp. For example, as shown in Fig. 5, the samples per chirp may be arranged in a so-called “fast time” direction of the data cube 504.[000144] In some demonstrative aspects, processor 504 may be configured to determine the range values, Doppler values, and / or Angle of Arrival (AoA) values, e.g.,Azimuth values and / or Elevation values, for example, based on FFT techniques, e.g., as described below.[000145] In other aspects, processor 504 may be configured to determine the range values, Doppler values, and / or Angle of Arrival (AoA) values, e.g., Azimuth values and / or Elevation values, for example, based on Super-Resolution (SR) techniques, and / or any other suitable processing technique.[000146] In some demonstrative aspects, radar processor 503 may be configured to process a plurality of samples, e.g., E samples collected for each chirp and for each antenna, by a first FFT. The first FFT may be performed, for example, for each chirp and each antenna, such that a result of the processing of the data cube 504 by the first FFT may again have three dimensions, and may have the size of the data cube 504 while including values for L range bins, e.g., instead of the values for the L sampling times.[000147] In some demonstrative aspects, radar processor 503 may be configured to process the result of the processing of the data cube 504 by the first FFT, for example, by processing the result according to a second FFT along the chirps, e.g., for each antenna and for each range bin.[000148] For example, the first FFT may be in the “fast time” direction, and the second FFT may be in the “slow time” direction.[000149] In some demonstrative aspects, the result of the second FFT may provide, e.g., when aggregated over the antennas, a range / Doppler (R / D) map 505. The R / D map may have FFT peaks 506, for example, including peaks of FFT output values (in terms of absolute values) for certain range / speed combinations, e.g., for range / Doppler bins. For example, a range / Doppler bin may correspond to a range bin and a Doppler bin. For example, radar processor 503 may consider a peak as potentially corresponding to an object, e.g., of the range and speed corresponding to the peak’s range bin and speed bin.[000150] In some demonstrative aspects, the extraction scheme of Fig. 5 may be implemented for an FMCW radar, e.g., FMCW radar 400 (Fig. 4), as described above. In other aspects, the extraction scheme of Fig. 5 may be implemented for any other radar type. In one example, the radar processor 503 may be configured to determine a range / Doppler map 505 from digital reception data values of a PMCW radar, an OFDMradar, or any other radar technologies. For example, in adaptive or cognitive radar, the pulses in a frame, the waveform and / or modulation may be changed over time, e.g., according to the environment.[000151] Referring back to Fig. 3, in some demonstrative aspects, receive antenna arrangement 303 may be implemented using a receive antenna array having a plurality of receive antennas (or receive antenna elements). For example, radar processor 309 may be configured to determine an angle of arrival of the received radio signal, e.g., echo 107 (Fig. 1) and / or echo 215 (Fig. 2). For example, radar processor 309 may be configured to determine a direction of a detected object, e.g., with respect to the device / system 301, for example, based on the angle of arrival of the received radio signal, e.g., as described below.[000152] Reference is made to Fig. 6, which schematically illustrates an angledetermination scheme, which may be implemented to determine Angle of Arrival (AoA) information based on an incoming radio signal received by a receive antenna array 600, in accordance with some demonstrative aspects.[000153] Fig. 6 depicts an angle-determination scheme based on received signals at the receive antenna array. In some demonstrative aspects, for example, in a virtual MIMO array, the angle-determination may also be based on the signals transmitted by the array of Tx antennas.[000154] Fig. 6 depicts a one-dimensional angle-determination scheme. Other multidimensional angle determination schemes, e.g., a two-dimensional scheme or a three- dimensional scheme, may be implemented.[000155] In some demonstrative aspects, as shown in Fig. 6, the receive antenna array 600 may include M antennas (numbered, from left to right, 1 to M).[000156] As shown by the arrows in FIG. 6, it is assumed that an echo is coming from an object located at the top left direction. Accordingly, the direction of the echo, e.g., the incoming radio signal, may be towards the bottom right. According to this example, the further to the left a receive antenna is located, the earlier it will receive a certain phase of the incoming radio signal.[000157] For example, a phase difference, denoted Atp, between two antennas of the receive antenna array 600 may be determined, e.g., as follows:wherein X denotes a wavelength of the incoming radio signal, d denotes a distance between the two antennas, and 0 denotes an angle of arrival of the incoming radio signal, e.g., with respect to a normal direction of the array.[000158] In some demonstrative aspects, radar processor 309 (Fig. 3) may be configured to utilize this relationship between phase and angle of the incoming radio signal, for example, to determine the angle of arrival of echoes, for example by performing an FFT, e.g., a third FFT (“angular FFT”) over the antennas.[000159] In some demonstrative aspects, multiple transmit antennas, e.g., in the form of an antenna array having multiple transmit antennas, may be used, for example, to increase the spatial resolution, e.g., to provide high-resolution radar information. For example, a MIMO radar device may utilize a virtual MIMO radar antenna, which may be formed as a convolution of a plurality of transmit antennas convolved with a plurality of receive antennas.[000160] Reference is made to Fig. 7, which schematically illustrates a MIMO radar antenna scheme, which may be implemented based on a combination of Transmit (Tx) and Receive (Rx) antennas, in accordance with some demonstrative aspects.[000161] In some demonstrative aspects, as shown in Fig. 7, a radar MIMO arrangement may include a transmit antenna array 701 and a receive antenna array 702. For example, the one or more transmit antennas 302 (Fig. 3) may be implemented to include transmit antenna array 701, and / or the one or more receive antennas 303 (Fig. 3) may be implemented to include receive antenna array 702.[000162] In some demonstrative aspects, antenna arrays including multiple antennas both for transmitting the radio transmit signals and for receiving echoes of the radio transmit signals, may be utilized to provide a plurality of virtual channels as illustrated by the dashed lines in Fig. 7. For example, a virtual channel may be formed as a convolution, for example, as a Kronecker product, between a transmit antenna and a receive antenna, e.g., representing a virtual steering vector of the MIMO radar.[000163] In some demonstrative aspects, a transmit antenna, e.g., each transmit antenna, may be configured to send out an individual radio transmit signal, e.g., having a phase associated with the respective transmit antenna.[000164] For example, an array of N transmit antennas and M receive antennas may be implemented to provide a virtual MIMO array of size N x M. For example, the virtual MIMO array may be formed according to the Kronecker product operation applied to the Tx and Rx steering vectors.[000165] Fig. 8 is a schematic block diagram illustration of elements of a radar device 800, in accordance with some demonstrative aspects. For example, radar device 101 (Fig. 1), radar device 300 (Fig. 3), and / or radar device 400 (Fig. 4), may include one or more elements of radar device 800, and / or may perform one or more operations and / or functionalities of radar device 800.[000166] In some demonstrative aspects, as shown in Fig. 8, radar device 800 may include a radar frontend 804 and a radar processor 834. For example, radar frontend 103 (Fig. 1), radar frontend 211 (Fig. 1), radar frontend 304 (Fig. 3), radar frontend 401 (Fig. 4), and / or radar frontend 502 (Fig. 5), may include one or more elements of radar frontend 804, and / or may perform one or more operations and / or functionalities of radar frontend 804.[000167] In some demonstrative aspects, radar frontend 804 may be implemented as part of a MIMO radar utilizing a MIMO radar antenna 881 including a plurality of Tx antennas 814 configured to transmit a plurality of Tx RF signals (also referred to as ”Tx radar signals”); and a plurality of Rx antennas 816 configured to receive a plurality of Rx RF signals (also referred to as ”Rx radar signals”), for example, based on the Tx radar signals, e.g., as described below.[000168] In some demonstrative aspects, MIMO antenna array 881, antennas 814, and / or antennas 816 may include or may be part of any type of antennas suitable for transmitting and / or receiving radar signals. For example, MIMO antenna array 881, antennas 814, and / or antennas 816, may be implemented as part of any suitable configuration, structure, and / or arrangement of one or more antenna elements, components, units, assemblies, and / or arrays. For example, MIMO antenna array 881, antennas 814, and / or antennas 816, may be implemented as part of a phased arrayantenna, a multiple element antenna, a set of switched beam antennas, and / or the like. In some aspects, MIMO antenna array 881, antennas 814, and / or antennas 816, may be implemented to support transmit and receive functionalities using separate transmit and receive antenna elements. In some aspects, MIMO antenna array 881, antennas 814, and / or antennas 816, may be implemented to support transmit and receive functionalities using common and / or integrated transmit / receive elements.[000169] In some demonstrative aspects, MIMO radar antenna 881 may include a rectangular MIMO antenna array, and / or curved array, e.g., shaped to fit a vehicle design. In other aspects, any other form, shape and / or arrangement of MIMO radar antenna 881 may be implemented.[000170] In some demonstrative aspects, radar frontend 804 may include one or more radios configured to generate and transmit the Tx RF signals via Tx antennas 814; and / or to process the Rx RF signals received via Rx antennas 816, e.g., as described below.[000171] In some demonstrative aspects, radar frontend 804 may include at least one transmitter (Tx) 883 including circuitry and / or logic configured to generate and / or transmit the Tx radar signals via Tx antennas 814.[000172] In some demonstrative aspects, radar frontend 804 may include at least one receiver (Rx) 885 including circuitry and / or logic to receive and / or process the Rx radar signals received via Rx antennas 816, for example, based on the Tx radar signals.[000173] In some demonstrative aspects, transmitter 883, and / or receiver 885 may include circuitry; logic; Radio Frequency (RF) elements, circuitry and / or logic; baseband elements, circuitry and / or logic; modulation elements, circuitry and / or logic; demodulation elements, circuitry and / or logic; amplifiers; analog to digital and / or digital to analog converters; filters; and / or the like.[000174] In some demonstrative aspects, transmitter 883 may include a plurality of Tx chains 810 configured to generate and transmit the Tx RF signals via Tx antennas 814, e.g., respectively; and / or receiver 885 may include a plurality of Rx chains 812 configured to receive and process the Rx RF signals received via the Rx antennas 816, e.g., respectively.[000175] In some demonstrative aspects, radar processor 834 may be configured to generate radar information 813, for example, based on the radar signals communicated by MIMO radar antenna 881, e.g., as described below. For example, radar processor 104 (Fig. 1), radar processor 210 (Fig. 2), radar processor 309 (Fig. 3), radar processor 402 (Fig. 4), and / or radar processor 503 (Fig. 5), may include one or more elements of radar processor 834, and / or may perform one or more operations and / or functionalities of radar processor 834.[000176] In some demonstrative aspects, radar processor 834 may be configured to generate radar information 813, for example, based on radar Rx data 811 received from the plurality of Rx chains 812. For example, radar Rx data 811 may be based on the radar Rx signals received via the Rx antennas 816.[000177] In some demonstrative aspects, radar processor 834 may include an input 832 to receive radar input data, e.g., including the radar Rx data 811 from the plurality of Rx chains 812.[000178] In some demonstrative aspects, radar processor 834 may include, or may be implemented, partially or entirely, by circuitry and / or logic, e.g., one or more processors including circuitry and / or logic, memory circuitry and / or logic. Additionally or alternatively, one or more functionalities of radar processor 834 may be implemented by logic, which may be executed by a machine and / or one or more processors, e.g., as described below.[000179] In some demonstrative aspects, radar processor 834 may include at least one processor 836, which may be configured, for example, to process the radar Rx data 811, and / or to perform one or more operations, methods, and / or algorithms.[000180] In some demonstrative aspects, radar processor 834 may include at least one memory 838, e.g., coupled to the processor 836. For example, memory 838 may be configured to store data processed by radar processor 834. For example, memory 838 may store, e.g., at least temporarily, at least some of the information processed by the processor 836, and / or logic to be utilized by the processor 836.[000181] In some demonstrative aspects, processor 836 may interface with memory 838, for example, via a memory interface 839.[000182] In some demonstrative aspects, processor 836 may be configured to access memory 838, e.g., to write data to memory 838 and / or to read data from memory 838, for example, via memory interface 839.[000183] In some demonstrative aspects, memory 838 may be configured to store at least part of the radar data, e.g., some of the radar Rx data or all of the radar Rx data, for example, for processing by processor 836, e.g., as described below.[000184] In some demonstrative aspects, memory 838 may be configured to store processed data, which may be generated by processor 836, for example, during the process of generating the radar information 813, e.g., as described below.[000185] In some demonstrative aspects, memory 838 may be configured to store range information and / or Doppler information, which may be generated by processor 836, for example, based on the radar Rx data. In one example, the range information and / or Doppler information may be determined based on a Cross-Correlation (XCORR) operation, which may be applied to the radar Rx data. Any other additional or alternative operation, algorithm and / or procedure may be utilized to generate the range information and / or Doppler information.[000186] In some demonstrative aspects, memory 838 may be configured to store AoA information, which may be generated by processor 836, for example, based on the radar Rx data, the range information and / or Doppler information. In one example, the AoA information may be determined based on an AoA estimation algorithm. Any other additional or alternative operation, algorithm and / or procedure may be utilized to generate the AoA information.[000187] In some demonstrative aspects, radar processor 834 may be configured to generate the radar information 813 including one or more of range information, Doppler information, and / or AoA information.[000188] In some demonstrative aspects, the radar information 813 may include Point Cloud 1 (PCI) information, for example, including raw point cloud estimations, e.g., Range, Radial Velocity, Azimuth and / or Elevation.[000189] In some demonstrative aspects, the radar information 813 may include Point Cloud 2 (PC2) information, which may be generated, for example, based on the PCI information. For example, the PC2 information may include clustering information,tracking information, e.g., tracking of probabilities and / or density functions, bounding box information, classification information, orientation information, and the like.[000190] In some demonstrative aspects, the radar information 813 may include target tracking information corresponding to a plurality of targets in an environment of the radar device 800, e.g., as described below.[000191] In some demonstrative aspects, radar processor 834 may be configured to generate the radar information 813 in the form of four Dimensional (4D) image information, e.g., a cube, which may represent 4D information corresponding to one or more detected targets.[000192] In some demonstrative aspects, the 4D image information may include, for example, range values, e.g., based on the range information, velocity values, e.g., based on the Doppler information, azimuth values, e.g., based on azimuth AoA information, elevation values, e.g., based on elevation AoA information, and / or any other values.[000193] In some demonstrative aspects, radar processor 834 may be configured to generate the radar information 813 in any other form, and / or including any other additional or alternative information.[000194] In some demonstrative aspects, radar processor 834 may be configured to process the signals communicated via MIMO radar antenna 881 as signals of a virtual MIMO array formed by a convolution of the plurality of Rx antennas 816 and the plurality of Tx antennas 814.[000195] In some demonstrative aspects, radar frontend 804 and / or radar processor 834 may be configured to utilize MIMO techniques, for example, to support a reduced physical array aperture, e.g., an array size, and / or utilizing a reduced number of antenna elements. For example, radar frontend 804 and / or radar processor 834 may be configured to transmit orthogonal signals via one or more Tx arrays 824 including a plurality of N elements, e.g., Tx antennas 814, and processing received signals via one or more Rx arrays 826 including a plurality of M elements, e.g., Rx antennas 816.[000196] In some demonstrative aspects, utilizing the MIMO technique of transmission of the orthogonal signals from the Tx arrays 824 with N elements and processing the received signals in the Rx arrays 826 with M elements may be equivalent, e.g., under a far field approximation, to a radar utilizing transmission fromone antenna and reception with N*M antennas. For example, radar frontend 804 and / or radar processor 834 may be configured to utilize MIMO antenna array 881 as a virtual array having an equivalent array size of N*M, which may define locations of virtual elements, for example, as a convolution of locations of physical elements, e.g., the antennas 814 and / or 816.[000197] In some demonstrative aspects, a radar system may include a plurality of radar devices 800. For example, vehicle 100 (Fig. 1) may include a plurality of radar devices 800, e.g., as described below.[000198] Reference is made to Fig. 9, which schematically illustrates a radar system 901 including a plurality of Radio Head (RH) radar devices (also referred to as RHs) 910 implemented in a vehicle 900, in accordance with some demonstrative aspects.[000199] In some demonstrative aspects, as shown in Fig. 9, the plurality of RH radar devices 910 may be located, for example, at a plurality of positions around vehicle 900, for example, to provide radar sensing at a large field of view around vehicle 900, e.g., as described below.[000200] In some demonstrative aspects, as shown in Fig. 9, the plurality of RH radar devices 910 may include, for example, six RH radar devices 910, e.g., as described below.[000201] In some demonstrative aspects, the plurality of RH radar devices 910 may be located, for example, at a plurality of positions around vehicle 900, which may be configured to support 360-degrees radar sensing, e.g., a field of view of 360 degrees surrounding the vehicle 900, e.g., as described below.[000202] In one example, the 360-degrees radar sensing may allow to provide a radarbased view of substantially all surroundings around vehicle 900, e.g., as described below.[000203] In other aspects, the plurality of RH radar devices 910 may include any other number of RH radar devices 910, e.g., less than six radar devices or more than six radar devices.[000204] In other aspects, the plurality of RH radar devices 910 may be positioned at any other locations and / or according to any other arrangement, which may support radarsensing at any other field of view around vehicle 900, e.g., 360-degrees radar sensing or radar sensing of any other field of view.[000205] In some demonstrative aspects, as shown in Fig. 9, vehicle 900 may include a first RH radar device 902, e.g., a front RH, at a front-side of vehicle 900.[000206] In some demonstrative aspects, as shown in Fig. 9, vehicle 900 may include a second RH radar device 904, e.g., a back RH, at a back-side of vehicle 900.[000207] In some demonstrative aspects, as shown in Fig. 9, vehicle 900 may include one or more of RH radar devices at one or more respective corners of vehicle 900. For example, vehicle 900 may include a first corner RH radar device 912 at a first comer of vehicle 900, a second comer RH radar device 914 at a second corner of vehicle 900, a third comer RH radar device 916 at a third corner of vehicle 900, and / or a fourth comer RH radar device 918 at a fourth comer of vehicle 900.[000208] In some demonstrative aspects, vehicle 900 may include one, some, or all, of the plurality of RH radar devices 910 shown in Fig. 9. For example, vehicle 900 may include the front RH radar device 902 and / or back RH radar device 904.[000209] In other aspects, vehicle 900 may include any other additional or alternative radar devices, for example, at any other additional or alternative positions around vehicle 900. In one example, vehicle 900 may include a side radar, e.g., on a side of vehicle 900.[000210] In some demonstrative aspects, as shown in Fig. 9, vehicle 900 may include a radar system controller 950 configured to control one or more, e.g., some or all, of the RH radar devices 910.[000211] In some demonstrative aspects, at least part of the functionality of radar system controller 950 may be implemented by a dedicated controller, e.g., a dedicated system controller or central controller, which may be separate from the RH radar devices 910, and may be configured to control some or all of the RH radar devices 910.[000212] In some demonstrative aspects, at least part of the functionality of radar system controller 950 may be implemented as part of at least one RH radar device 910.[000213] In some demonstrative aspects, at least part of the functionality of radar system controller 950 may be implemented by a radar processor of an RH radar device910. For example, radar processor 834 (Fig. 8) may include one or more elements of radar system controller 950, and / or may perform one or more operations and / or functionalities of radar system controller 950.[000214] In some demonstrative aspects, at least part of the functionality of radar system controller 950 may be implemented by a system controller of vehicle 900. For example, vehicle controller 108 (Fig. 1) may include one or more elements of radar system controller 950, and / or may perform one or more operations and / or functionalities of radar system controller 950.[000215] In other aspects, one or more functionalities of system controller 950 may be implemented as part of any other element of vehicle 900.[000216] In some demonstrative aspects, as shown in Fig. 9, an RH radar device 910 of the plurality of RH radar devices 910, may include a baseband processor 930 (also referred to as a “Baseband Processing Unit (BPU)”), which may be configured to control communication of radar signals by the RH radar device 910, and / or to process radar signals communicated by the RH radar device 910. For example, baseband processor 930 may include one or more elements of radar processor 834 (Fig. 8), and / or may perform one or more operations and / or functionalities of radar processor 834 (Fig. 8).[000217] In other aspects, an RH radar device 910 of the plurality of RH radar devices 910 may exclude one or more, e.g., some or all, functionalities of baseband processor 930. For example, controller 950 may be configured to perform one or more, e.g., some or all, functionalities of the baseband processor 930 for the RH.[000218] In one example, controller 950 may be configured to perform baseband processing for all RH radar devices 910, and all RH radio devices 910 may be implemented without baseband processors 930.[000219] In another example, controller 950 may be configured to perform baseband processing for one or more first RH radar devices 910, and the one or more first RH radio devices 910 may be implemented without baseband processors 930; and / or one or more second RH radar devices 910 may be implemented with one or more functionalities, e.g., some or all functionalities, of baseband processors 930.[000220] In another example, one or more, e.g., some or all, RH radar devices 910 may be implemented with one or more functionalities, e.g., partial functionalities or full functionalities, of baseband processors 930.[000221] In some demonstrative aspects, baseband processor 930 may include one or more components and / or elements configured for digital processing of radar signals communicated by the RH radar device 910, e.g., as described below.[000222] In some demonstrative aspects, baseband processor 930 may include one or more FFT engines, matrix multiplication engines, DSP processors, and / or any other additional or alternative baseband, e.g., digital, processing components.[000223] In some demonstrative aspects, as shown in Fig. 9, RH radar device 910 may include a memory 932, which may be configured to store data processed by, and / or to be processed by, baseband processor 930. For example, memory 932 may include one or more elements of memory 838 (Fig. 8), and / or may perform one or more operations and / or functionalities of memory 838 (Fig. 8).[000224] In some demonstrative aspects, memory 932 may include an internal memory, and / or an interface to one or more external memories, e.g., an external Double Data Rate (DDR) memory, and / or any other type of memory.[000225] In other aspects, an RH radar device 910 of the plurality of RH radar devices 910 may exclude memory 932. For example, the RH radar device 910 may be configured to provide radar data to controller 950, e.g., in the form of raw radar data.[000226] In some demonstrative aspects, as shown in Fig. 9, RH radar device 910 may include one or more RF units, e.g., in the form of one or more RF Integrated Chips (RFICs) 920, which may be configured to communicate radar signals, e.g., as described below.[000227] For example, an RFIC 920 may include one or more elements of front-end 804 (Fig. 8), and / or may perform one or more operations and / or functionalities of frontend 804 (Fig. 8).[000228] In some demonstrative aspects, the plurality of RFICs 920 may be operable to form a radar antenna array including one or more Tx antenna arrays and one or more Rx antenna arrays.[000229] For example, the plurality of RFICs 920 may be operable to form MIMO radar antenna 881 (Fig. 8) including Tx arrays 824 (Fig. 8), and / or Rx arrays 826 (Fig. 8).[000230] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, e.g., as described below.[000231] In some demonstrative aspects, the interference detection and mitigation mechanism may be configured to provide a technical solution to support spatial interference detection and mitigation, for example, for MIMO Radars, e.g., as described below.[000232] For example, interference may be a key challenge in many radar deployment plans, e.g., for a future car market and / or for non-vehicular radar implementations.[000233] For example, it may be assumed that interference avoidance in a busy environment may have limited impact and, accordingly, supported in-band mitigation techniques, which may reduce an impact of interference, may provide a big technical differentiation for a radar manufacturer.[000234] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured to provide a technical solution to support in-band interference mitigation, e.g., as described below.[000235] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured to provide a technical solution, which may be suitable for “real-life” scenarios, e.g., as described below.[000236] In some demonstrative aspects, the interference detection and mitigation mechanism may be configured to provide a technical solution, which may support a relatively wide range of use cases, scenarios, and / or implementations, for example,compared to other potential mechanisms, which may be limited, for example, to very specific theoretical models, e.g., as described below.[000237] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured to use specific array attributes of an antenna array, e.g., as described below.[000238] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured to utilize a spatial correlation with an interferer, for example, regardless of one or more characteristics of the interferer, e.g., as described below.[000239] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured to provide a technical solution to suppress a contribution of an interferer on processing of radar data, e.g., in the rest of a 4D cube, e.g., as described below.[000240] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured to provide a technical solution to support isolating a direction of the interference, and to reduce its impact on one or more directions, e.g., azimuth directions, in the 4D cube, e.g., as described below.[000241] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured to provide a technical solution to support measuring and classifying an interference strength of the interferer in a direction of origin of the interferer, e.g., as described below,[000242] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may beconfigured to provide a technical solution to support straightforward scalability for more than a single interferer, for example, even without requiring an assumption whatsoever on one or more interferer characteristics of the interferer, e.g., as described below.[000243] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured to provide a technical solution to support mitigation of an interferer, for example, while maintaining substantially a same level of performance for one or more other directions.[000244] In one example, a scenario may include interference to a radar device from a specific direction, while there may be several targets in the interference direction as well as in other directions. For example, the interference detection and mitigation mechanism may be implemented to maintain substantially a same performance level in the other directions, e.g., other than the direction of the interferer. For example, there may be some performance degradation, e.g., at the interference direction.[000245] Reference is made to Fig. 10, which schematically illustrates a system 1001, in accordance with some demonstrative aspects.[000246] For example, radar device 800 (Fig. 8) and / or radar system 900 (Fig. 9) may implement one or more elements of system 1001, and / or may perform one or more operations and / or functionalities of one or more elements of system 1001.[000247] In some demonstrative aspects, system 1001 may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, e.g., as described below.[000248] In some demonstrative aspects, system 1001 may be configured to detect and / or mitigate at least one interferer, e.g., as described below.[000249] In some demonstrative aspects, system 1001 may include a radar data processor 1000, e.g., as described below.[000250] In some demonstrative aspects, radar data processor 1000 may be implemented, for example, as part of a radar device, e.g., radar device 800 (Fig. 8), an / or a radar device 910 (Fig. 9).[000251] In some demonstrative aspects, radar data processor 1000 may be implemented, for example, as part of a radar processor, e.g., radar processor 834 (Fig. 8), BB processor 930 (Fig 9), and / or controller 950 (Fig. 9).[000252] For example, radar processor 834 (Fig. 8) may include one or more elements of radar data processor 1000, and / or may perform one or more operations and / or functionalities of radar data processor 1000.[000253] In some demonstrative aspects, radar data processor 1000 may include an input 1042 configured to receive input radar data 1043 corresponding to radar Rx signals 1035 received by one or more Rx antennas 1034, which may be based on radar Tx signals from one or more Tx antennas 1032, e.g., as described below.[000254] In some demonstrative aspects, input 1042 may include any suitable input interface, input unit, input module, input component, input circuitry, memory interface, memory access unit, memory reader, digital memory unit, bus interface, processor interface, or the like, which may be capable of receiving the input radar data 1043 from a memory, a processor, and / or any other suitable component to provide the input radar data 1043.[000255] In some demonstrative aspects, input radar data 1043 may include radar Rx data, which may include, or may be based on the radar Rx signals 1035 received by one or more Rx antennas 1034.[000256] In other aspects, input radar data 1043 may include processed radar data, which may be generated, e.g., by one or more processors (not shown in Fig. 10), based on the radar Rx signals 1035 received by one or more Rx antennas 1034.[000257] In some demonstrative aspects, input radar data 1043 may include, or may be based, for example, on radar Rx data 811 (Fig. 8).[000258] In some demonstrative aspects, Tx antennas 1032 and / or Rx antennas 1034 may be implemented and / or included as part of an antenna array 1030.[000259] In some demonstrative aspects, antenna array 1030 may include a MIMO antenna array. For example, MIMO antenna array 881 (Fig. 8) may include one or more elements of antenna array 1030, and / or may perform one or more operations and / or functionalities of antenna array 1030.kk[000260] In some demonstrative aspects, radar data processor 1000 may include a processor 1040, which may be configured to detect at least one interferer. For example, radar processor 834 (Fig. 8) may include one or more elements of processor 1040, and / or may perform one or more operations and / or functionalities of processor 1040; and / or BB processor 930 (Fig. 9) and / or controller 950 (Fig. 9) may include one or more elements of processor 1040, and / or may perform one or more operations and / or functionalities of processor 1040.[000261] In some demonstrative aspects, processor 1040 may include, or may be implemented, partially or entirely, by circuitry and / or logic, e.g., one or more processors including circuitry and / or logic, memory circuitry and / or logic. Additionally or alternatively, one or more functionalities of processor 1040 may be implemented by logic, which may be executed by a machine and / or one or more processors, e.g., as described below.[000262] In other aspects, processor 1040 may be implemented as part of any other, dedicated, or indicated, element of a radar device, e.g., radar device 800 (Fig. 8) or radar device 910 (Fig. 9), and / or a radar system, e.g., radar system 901 (Fig. 9).[000263] In some demonstrative aspects, processor 1040 may be configured to detect the at least one interferer, for example, based on a predefined detection criterion applied to a plurality of two-dimensional (2D) range-angle maps, e.g., as described below.[000264] In some demonstrative aspects, the plurality of 2D range-angle maps may be based, for example, on the input radar data 1043, e.g., as described below.[000265] In some demonstrative aspects, a 2D range-angle map may include a plurality of energy values mapped over a 2D spectrum including a range dimension and an angle dimension, e.g., as described below.[000266] In some demonstrative aspects, processor 1040 may be configured to determine an estimated angle of the interferer and / or an estimated power level of the interferer, for example, based on the plurality of 2D range-angle maps, e.g., as described below.[000267] In some demonstrative aspects, radar data processor 1000 may include an output 1046 to provide output data 1045, for example, based on the estimated angle of the interferer and / or the estimated power level of the interferer, e.g., as described below.[000268] In some demonstrative aspects, output 1046 may include any suitable output interface, output unit, output module, output component, output circuitry, memory interface, memory access unit, memory writer, digital memory unit, bus interface, processor interface, or the like, which may be capable of outputting the output data 1045 to a memory, a processor, and / or any other suitable component to handle the output data 1045.[000269] In some demonstrative aspects, processor 1040 may be configured to generate the output data 1045 including, for example, interference detection information, e.g., as described below.[000270] In some demonstrative aspects, the interference detection information may include the estimated angle of the interferer, and / or the estimated power level of the interferer, e.g., as described below.[000271] In some demonstrative aspects, processor 1040 may be configured to determine processed radar data, for example, based on the plurality of 2D range-angle maps, the estimated angle of the interferer, and / or the estimated power level of the interferer.[000272] In some demonstrative aspects, processor 1040 may be configured to generate the output data 1045, for example, based on the processed radar data, e.g., as described below.[000273] In some demonstrative aspects, system 1001 may include a processor 1050, which may be configured to generate radar information 1055, for example, based on the output data 1045.[000274] In one example, processor 1040 may provide the output data 1045, for example, to the processor 1050, e.g., via output 1046.[000275] For example, radar processor 834 (Fig. 8) may include one or more elements of processor 1050, and / or may perform one or more operations and / or functionalities of processor 1050; and / or BB processor 930 (Fig. 9) and / or controller 950 (Fig. 9) may include one or more elements of processor 1050, and / or may perform one or more operations and / or functionalities of processor 1050.[000276] In some demonstrative aspects, processor 1040 may provide the output data 1045, for example, to any other components and / or elements of a radar device, e.g.,radar device 910 (Fig. 9) and / or radar device 800 (Fig. 8), and / or a radar system, e.g., radar system 901 (Fig. 9), for example, via output 1046.[000277] In some demonstrative aspects, the plurality of 2D range-angle maps utilized by processor 1040 may correspond to a respective plurality of rows of a virtual antenna, e.g., as described below.[000278] In some demonstrative aspects, the virtual antenna may include, for example, a convolution of the one or more Rx antennas 1034 and the one or more Tx antennas 1032, e.g., as described below.[000279] In other aspects, the plurality of 2D range-angle maps may include any other additional or alternative information, and / or may be defined according to any other definition.[000280] In some demonstrative aspects, the detection criterion applied by the processor 1040 may be based, for example, on a spatial correlation between the energy values in the 2D range-angle map and one or more angles in the angle dimension, e.g., as described below.[000281] In other aspects, the detection criterion applied by the processor 1040 may include any other additional and / or alternative criterion.[000282] In some demonstrative aspects, the angle dimension of the 2D range-angle map may include an azimuth dimension, e.g., as described below.[000283] In some demonstrative aspects, the estimated angle of the interferer may include an estimated azimuth angle of the interferer, e.g., as described below.[000284] In other aspects, the angle dimension of the 2D range-angle map may include an elevation dimension, and / or the estimated angle of the interferer may include an estimated elevation angle of the interferer.[000285] In some demonstrative aspects, the detection criterion applied by the processor 1040 may be based, for example, on a plurality of values of a detection parameter corresponding to a respective plurality of angle values in the angle dimension, e.g., as described below.[000286] In some demonstrative aspects, a value of the detection parameter corresponding to a particular angle value may be based, for example, on a combinationof energy values corresponding to the particular angle value in the plurality of 2D rangeangle maps, e.g., as described below.[000287] In some demonstrative aspects, processor 1040 may be configured to determine the value of the detection parameter corresponding to the particular angle value, for example, based on a plurality of range-based values corresponding to the particular angle value, e.g., as described below.[000288] In some demonstrative aspects, the plurality of range-based values may correspond to a respective plurality of range values in the range dimension, e.g., as described below.[000289] In some demonstrative aspects, a range-based value corresponding to a particular range value and the particular angle value may be based, for example, on a plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps, e.g., as described below.[000290] In some demonstrative aspects, processor 1040 may be configured to determine the range-based value corresponding to the particular range value and the particular angle value, for example, based on a statistical function applied to the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps, e.g., as described below.[000291] In some demonstrative aspects, processor 1040 may be configured to determine the range-based value corresponding to the particular range value and the particular angle value, for example, based on a median of the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps, e.g., as described below.[000292] In other aspects, processor 1040 may be configured to determine the rangebased value corresponding to the particular range value and the particular angle value, for example, based on any other additional or alternative function and / or calculation applied to the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps, and / or based on any other additional or alternative information.[000293] In some demonstrative aspects, processor 1040 may be configured to determine the value of the detection parameter corresponding to the particular anglevalue, for example, based on a statistical function applied to the plurality of range-based values corresponding to the particular angle value, e.g., as described below.[000294] In some demonstrative aspects, processor 1040 may be configured to determine the value of the detection parameter corresponding to the particular angle value, for example, based on a statistical function applied to the plurality of range-based values corresponding to the particular angle value, e.g., as described below.[000295] In some demonstrative aspects, processor 1040 may be configured to determine the value of the detection parameter corresponding to the particular angle value, for example, based on mean of the plurality of range-based values corresponding to the particular angle value, e.g., as described below.[000296] In other aspects, processor 1040 may be configured to determine the value of the detection parameter corresponding to the particular angle value, for example, based on any other additional or alternative function and / or calculation applied to the plurality of range-based values corresponding to the particular angle value, and / or based on any other additional or alternative information.[000297] In some demonstrative aspects, the detection criterion applied by processor 1040 may be based, for example, on a comparison between the plurality of values of the detection parameter and a detection threshold, e.g., as described below.[000298] In other aspects, any other additional or alternative detection criterion may be applied to the plurality of values of the detection parameter.[000299] In some demonstrative aspects, processor 1040 may be configured to determine the estimated angle of the interferer, for example, based on a detected angle value corresponding to a detected value of the detection parameter, which exceeds the detection threshold, e.g., as described below.[000300] In some demonstrative aspects, processor 1040 may be configured to determine the estimated power level of the interferer, for example, based on a detected value of the detection parameter, which exceeds the detection threshold, e.g., as described below.[000301] In some demonstrative aspects, processor 1040 may be configured to determine a count of detected interferes, for example, based on a count of detectedvalues of the detection parameter, which exceed the detection threshold, e.g., as described below.[000302] In some demonstrative aspects, processor 1040 may be configured to determine the detection threshold, for example, based on a statistical function applied to the plurality of values of the detection parameter, e.g., as described below.[000303] In some demonstrative aspects, processor 1040 may be configured to determine the detection threshold, for example, based on a noise floor of the plurality of values of the detection parameter, e.g., as described below.[000304] In other aspects, processor 1040 may be configured to determine the detection threshold, for example, based on any other additional or alternative function and / or calculation applied to the plurality of values of the detection parameter, and / or based on any other additional or alternative information.[000305] In other aspects, the detection threshold may be predefined.[000306] In some demonstrative aspects, processor 1040 may be configured to determine a plurality of angle-based target detection thresholds for target detection, e.g., as described below.[000307] In some demonstrative aspects, the plurality of angle-based target detection thresholds may include a first target detection threshold corresponding to the estimated angle of the interferer, e.g., as described below.[000308] In some demonstrative aspects, the plurality of angle-based target detection thresholds may include a second target detection threshold corresponding to one or more other angles, e.g., as described below.[000309] In some demonstrative aspects, the first target detection threshold may be different from the second target detection threshold, e.g., as described below.[000310] In some demonstrative aspects, the first detection threshold may be based, for example, on the estimated power level of the interferer, e.g., as described below.[000311] In some demonstrative aspects, the one or more other angles may include angles, which do not correspond to any detected interferer, e.g., as described below.[000312] In some demonstrative aspects, the first detection threshold may be higher than the second detection threshold, for example, when the one or more other angles do not correspond to any detected interferer, e.g., as described below.[000313] In some demonstrative aspects, the second detection threshold may be based, for example, on a noise floor, which may be based, for example, on energy values corresponding to the one or more other angles in the plurality of 2D range-angle maps, e.g., e.g., as described below.[000314] In some demonstrative aspects, processor 1040 may be configured to generate the output data 1045 including target detection information corresponding to one or more targets detected, for example, based on the plurality of angle-based target detection thresholds, e.g., as described below.[000315] In some demonstrative aspects, processor 1040 may be configured to implement one or more operations and / or functionalities of an interference detection and mitigation mechanism, which may be configured based on antenna array 1030, e.g., as described below.[000316] In some demonstrative aspects, an interference may have a correlation in received radar Rx signals 1035 with an AoA spatial domain.[000317] In some demonstrative aspects, antenna array 1030 may be configured as a physical array with a continuous azimuth uniformed linear array format, which may be used to estimate an interference spatial location, e.g., as described below.[000318] In some demonstrative aspects, processor 1040 may be configured to utilize the estimated interference spatial location, for example, for one or more mitigation options, e.g., as described below.[000319] In some demonstrative aspects, a similar approach may be used in another additional or alternative domain, e.g., the elevation domain.[000320] In some demonstrative aspects, processor 1040 may be configured to implement one or more operations and / or functionalities of an interference detection technique, e.g., as described below.[000321] In some demonstrative aspects, the interference detection technique may include analyzing for a frame, e.g., for each frame, a spatial energy across a 4D cube, e.g., in an AoA processing phase.[000322] In some demonstrative aspects, in case spatial correlation is observed in a particular direction across the entire array, e.g., R / D bins, this particular direction may be correlated to an interference, for example, as it exists in an entire 4D cube, e.g., since it is not correlated to a specific range and Doppler reflection.[000323] In some demonstrative aspects, the interference detection technique may include monitoring one or more attributes for a measured interference. For example, the one or more monitored attributes may include a power level and / or a noise level of the interference, and / or any other additional or alternative attribute.[000324] In some demonstrative aspects, the one or more monitored attributes, e.g., the power level and / or the noise level, may be correlated, for example, across the 4D cube, e.g., for averaging and / or any other additional or alternative statistical function.[000325] In some demonstrative aspects, the interference detection technique may include analyzing an equivalent threshold for a direction, e.g., once the direction is identified.[000326] For example, once the direction is identified, an equivalent detection threshold for the direction, e.g., each direction, may be analyzed.[000327] For example, processor 1040 may utilize a first dedicated detection threshold (Th) for an interfered direction, and / or a second dedicated detection threshold for one or more non-interfered directions.[000328] For example, a separation between the detection thresholds applied for detection in the interfered direction and the non-interfered directions may be implemented, for example, to provide a technical solution to avoid a situation where an entire 4D cube may rely on high energy reflections for example, due to the higher amount of energy detected in an interfered direction. For example, high energy reflections in the interfered direction may mask weaker targets in directions different from the interfered direction.[000329] In some demonstrative aspects, processor 1040 may be configured to implement one or more operations and / or functionalities of an interference mitigationtechnique, for example, to mitigate an effect of the detected interference, e.g., as described below.[000330] In some demonstrative aspects, information in a spatial domain of the detected interference, e.g., a direction of the interference, may be utilized to apply a dedicated energy threshold for a location, e.g., even for each location, for example, based on the detected presence of the interference.[000331] In some demonstrative aspects, processor 1040 may be configured to determine one or more AO A specific masks, for example, based on calculated interference power metrics. For example, the AOA specific masks may be configured to align detection thresholds, for example, per direction.[000332] For example, one or more first AOA specific masks may be determined, for example, to align first detection thresholds, for example, for one or more interfered directions. For example, one or more second AOA specific masks may be determined, for example, to align a second detection threshold, for example, for non-interfered directions.[000333] In some demonstrative aspects, the AOA specific masks may be implemented to provide a technical solution to improve a False Alarm (FA) performance in the interfered directions, which may be due, for example, to increased energy injection caused by one or more interferers.[000334] In some demonstrative aspects, the AOA specific masks may be implemented to provide a technical solution to improve a Missed Detection (MD) performance, for example, in a non-interfered direction, e.g., where there is no interference. For example, improved MD performance may be achieved, for example, by avoiding using thresholds, e.g., thresholds corresponding to an interfered direction, which may reflect higher energy than the energy that actually exists in a scene.[000335] In some demonstrative aspects, the interference mitigation technique may be implemented to provide a technical solution to maintain a performance level, e.g., in non-interfered directions, e.g., such that performance level in the non-interfered directions may be maintained substantially unaffected by the interference in the interfered directions. For example, there may be some degradation, e.g., only in the interfered directions.[000336] In some demonstrative aspects, processor 1040 may be configured to report, e.g., to an upper layer of a radar system, interference information, e.g., substantially exact information, of one or more attributes of the interference. For example, processor 1040 may be configured to report to processor 1050 information of the one or more attributes of the interference, e.g., in output data 1045.[000337] In some demonstrative aspects, processor 1040 may be configured to report to the upper layer interference information, e.g., substantially exact information, for example, including an indication of a direction of the interference in a field of view.[000338] In some demonstrative aspects, processor 1040 may be configured to report to the upper layer interference information, e.g., substantially exact information, for example, including an indication of a power level and / or a strength of the interference.[000339] In some demonstrative aspects, processor 1040 may be configured to report to the upper layer interference information, e.g., substantially exact information, for example, of any additional or alternative attribute of the interference.[000340] In some demonstrative aspects, processor 1040 may be configured to report to the upper layer interference information, e.g., substantially exact information, of more than one interference in a scene, e.g., in case more than one interference exists. In one example, processor 1040 may be configured to report to the upper layer interference information corresponding to substantially all interferences in a scene. In another example, processor 1040 may be configured to report to the upper layer interference information corresponding to some of the interferences in a scene, for example, based on one or more interference detection and / or reporting criteria. For example, processor 1040 may be configured to report to the upper layer interference information corresponding to one or more interferences detected in one or more particular directions, and / or one or more interferences exceeding one or more reporting thresholds.[000341] In some demonstrative aspects, the detection and mitigation mechanism described herein may be configured to use the nature of interference correlation with the spatial nature of a radar antenna array, e.g., antenna array 1030, for example, to identify a direction of the interference, and to use the direction of the interference, for example, for proper detection in an entire 4D cube, e.g., in non-interfered directions.[000342] In some demonstrative aspects, the detection and mitigation mechanism described herein may be implemented to provide a technical solution to improve one or more metrics, for example, false alarm metrics and / or miss detection metrics, e.g., for the entire 4D cube, for example, in presence of interference.[000343] In some demonstrative aspects, the detection and mitigation mechanism described herein may be implemented to provide a technical solution to provide information corresponding to an estimated angle of an interferer and / or an estimated power level of the interferer, e.g., as described below. For example, the information corresponding to the estimated angle of the interferer and / or the estimated power level of the interferer may be implemented to provide a technical solution to support better interference classification and / or reporting, for example, to deliver information regarding the direction and / or the strength of interference. For example, this information may be important, and in some cases critical, for one or more applications, for example, for an entire CAR application.[000344] In some demonstrative aspects, it may be shown by simulation that, in case of interference, an entire field of view range may be degraded, for example, if it is hard to distinguish per azimuth, for example, between incoming energy for target classification and incoming energy from an interferer.[000345] In some demonstrative aspects, it may be shown by simulation that when applying the detection and mitigation techniques described herein, some ranges, e.g., directions sufficiently far from a direction of the interference, may be recovered back.[000346] For example, in the directions far enough from the interference directions, specific energy thresholds, e.g., which do not take into account the interference energy injection, may be used, e.g., as described above. This use of the direction-based thresholds may provide a technical solution, to support detecting targets in a real scene, for example, based on accurate energy thresholds, e.g., which may distinguish between the interference direction and other directions.[000347] Reference is made to Figs. 11A, 1 IB, and 11C, which schematically illustrate simulation results of interference detection for two interferes from two respective directions, in accordance with some demonstrative aspects.[000348] In some demonstrative aspects, as shown in Fig. 11 A, the simulation results may correspond to a scenario 1102 including a radar device, e.g., radar device 800 (Fig. 8), in a vehicle 1101 driving along a road including guardrails 1104 on both sides of the road, and one or more other vehicles 1106.[000349] In some demonstrative aspects, a 2-aggressors detection may be implemented, for example, by integration of Range-Doppler (RD) maps and averaging to get a ID azimuth response, e.g., as descried below.[000350] For example, this response may be utilized detect the interpolated parameters of the aggressors, for example, power and / or direction, e.g., as described below.[000351] In some demonstrative aspects, an interference detection mechanism may be implemented, e.g., by processor 1040 (Fig. 10), to detect the interferers in the scenario 1102, e.g., as described above.[000352] In some demonstrative aspects, the interference detection mechanism may include detecting interferers in the scenario 1102, for example, based on a predefined detection criterion applied to a plurality of maps, for example, 2D or 3D maps including range-angle maps, e.g., as described above.[000353] In some demonstrative aspects, the detection criterion may be based on a plurality of values of a detection parameter corresponding to a respective plurality of angle values in an angle dimension of a plurality of 2D range-angle maps, e.g., as described above.[000354] In some demonstrative aspects, a processor, e.g., processor 1040 (Fig. 10), may determine a value of the detection parameter corresponding to a particular angle value, for example, based on a combination of energy values corresponding to the particular angle value in the plurality of 2D range-angle maps.[000355] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may determine the value of the detection parameter corresponding to the particular angle value, for example, based on a plurality of range-based values corresponding to the particular angle value.[000356] For example, the plurality of range-based values may correspond to a respective plurality of range values in the range dimension, e.g., as described above.[000357] For example, a range-based value corresponding to a particular range value and the particular angle value may be based on a plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range- angle maps.[000358] In some demonstrative aspects, for example, in some use cases and / or implementations, a maximum function may be utilized to determine the range-based value corresponding to the particular range value and the particular angle value, for example, based on a maximal energy value of the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range- angle maps.[000359] For example, a map 1110 may include maximal range-based values corresponding to the simulation of the scenario 1102 without the presence of the interferers, and a map 1120 may include maximal range-based values corresponding to the simulation of the scenario 1102 with interference from a first interferer from a first direction and interference from a second interferer from a second direction (not shown in scenario 1102).[000360] For example, as shown in Fig. 11 A, the maps 1110 and 1120 may include the maximal range-based values mapped over a 2D spectrum including a range dimension and an angle dimension.[000361] For example, a maximal range-based value in the maps 1110 and 1120 may correspond to a respective combination of a particular range value and a particular angle value.[000362] For example, the maximal range-based value in the maps 1110 and 1120 may be based on a maximal value of a plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps.[000363] For example, as shown in Fig. 11 A, the maximal range-based values of map 1110 may be used to identify the guardrails 1104 and the one or more vehicles 1106.[000364] However, as shown in Fig. 11 A, it may be hard, or even impossible, to identify the guardrails 1104 and the one or more vehicles 1106 in the scenario 1102, for example, based the maximal range-based values of map 1120.[000365] For example, as shown in Fig. 11 A, energy from the first interferer may result in maximal range-based values 1121, and energy from the second interferer may result in maximal range-based values 1123. As a result, as shown in Fig. 11A, it may be hard to differentiate, e.g., based on the maximal range-based values of map 1120, between energy from the actual targets and the energy from the interferers.[000366] In some demonstrative aspects, a processor, e.g., processor 1040 (Fig. 10), may be configured to utilize a statistical function to determine the range-based value corresponding to the particular range value and the particular angle value, for example, by applying a statistical function to the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps, e.g., as described above.[000367] In some demonstrative aspects, a processor, e.g., processor 1040 (Fig. 10), may be configured to utilize a median function to determine the range-based value corresponding to the particular range value and the particular angle value, for example, based on a median of the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps, e.g., as described above.[000368] For example, as shown in Fig. 11B, a map 1130 may include median rangebased values corresponding to the simulation of the scenario 1102 without the presence of the interferers, and a map 1140 may include median range-based values corresponding to the simulation of the scenario 1102 with interference from the first and second interferers.[000369] For example, as shown in Fig. 1 IB, the maps 1130 and 1140 may include the median range-based values mapped over the 2D spectrum including the range dimension and the angle dimension.[000370] For example, a median range-based value in the maps 1130 and 1140 may correspond to a respective combination of a particular range value and a particular angle value.[000371] For example, the median range-based value corresponding to the particular angle value and the particular range value in the maps 1130 and 1140 may be based ona median of the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps.[000372] In some demonstrative aspects, as shown in Fig. 11B, the map 1130 may include substantially no median range-based values above a noise floor of map 1130, for example, since the energy values corresponding to the guardrails 1104 and the one or more vehicles 1106 of the scenario 1102 may be canceled out, e.g., averaged, by the median applied the plurality of 2D range- angle maps.[000373] In some demonstrative aspects, as shown in Fig. 11B, the map 1140 may include median range-based values, e.g., above the noise floor of map 1140, corresponding to the first interferer and / or the second interferer.[000374] For example, as shown in Fig. 1 IB, the map 1140 may include median rangebased values 1122 resulting from the first interferer, and median range-based values 1124 resulting from the second interferer.[000375] In some demonstrative aspects, as shown in Fig. 1 IB, applying the statistical function, e.g., the median, to the plurality of energy values in the plurality of 2D rangeangle maps may result in cancelling out the energy values corresponding to the guardrails 1104 and the other vehicles 1106, for example, such that the remaining median range-based values 1122 and 1124, which may be above the noise floor of map 1140, may be used to detect the first and second interferers. For example, the energy values from the interferers may not be canceled-out by the statistical function, for example, since the energy reflections from the interferers may be scattered over substantially the entire range dimension in the plurality of 2D range-angle maps.[000376] In some demonstrative aspects, a processor, e.g., processor 1040 (Fig. 10), may be configured to determine a plurality of detection parameter values corresponding to a respective plurality of angle values in the angle dimension of map 1140.[000377] In some demonstrative aspects, a detection parameter value corresponding to a particular angle value may be based, for example, on a combination of the rangebased values corresponding to the particular angle value in the map 1140.[000378] In some demonstrative aspects, as shown in Fig. 11C, a detection parameter graph 1150 may include a curve 1151 depicting the plurality of detection parameter values as a function of the angle values.[000379] In some demonstrative aspects, a value on curve 1151 corresponding to a particular angle value may represent a value of the detection parameter, which may be determined, for example, based on a statistical function applied to the plurality of rangebased values corresponding to the particular angle value, e.g., as described above.[000380] I In some demonstrative aspects, the value on curve 1151 corresponding to the particular angle value may represent a value of the detection parameter, which may be determined, for example, based on a mean of the plurality of range-based values corresponding to the particular angle value, e.g., as described above.[000381] In some demonstrative aspects, as shown in Fig. 11C, graph 1150 may include a one dimensional (ID) azimuth response over the plurality of azimuth angles.[000382] In some demonstrative aspects, as shown in Fig. 11C, curve 1151 may include a first peak 1152 corresponding to the first interferer.[000383] In one example, the first peak 1152 may be based, for example, on a combination of the median range-based values 1122 at the angle corresponding to the first interferer.[000384] In some demonstrative aspects, as shown in Fig. 11C, curve 1151 may include a second peak 1154 corresponding to the second interferer.[000385] In one example, second peak 1154 may be based, for example, on a combination of the median range-based values 1124 at the angle corresponding to the second interferer.[000386] In some demonstrative aspects, a processor, e.g., processor 1040 (Fig. 10), may be configured to detect one or more interferers, for example, based on a comparison between the plurality of values of the detection parameter on curve 1151 and a detection threshold 1156, e.g., as described above.[000387] In some demonstrative aspects, the detection threshold 1156 may be determined based on a statistical function applied to the plurality of values of the detection parameter on curve 1151.[000388] In some demonstrative aspects, the detection threshold 1156 may be configured to be above the noise floor 1158 of the plurality of values of the detectionparameter on curve 1151. For example, the detection threshold 1156 may be at a predefined distance above the noise floor 1158.[000389] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine a count of detected interferers, for example, based on a count of detected values of the plurality of values on curve 1151, which exceed the detection threshold 1156.[000390] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may detect two interferers, e.g., the first interferer and the second interferer, for example, based on detection of the first peak 1152 and the second peak 1154, which exceed the detection threshold 1156.[000391] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine an estimated angle and / or an estimated power level of the detected interferers in the scenario 1102, for example, based on the plurality of detection parameter values on curve 1151.[000392] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may determine an estimated angle of the first interferer and / or an estimated power level of the first interferer, for example, based on the first peak 1152.[000393] For example, the processor, e.g., processor 1040 (Fig. 10), may determine the first interferer to be at an estimated azimuth angle of about 3 degrees, for example, based on an azimuth angle corresponding to the first peak 1152.[000394] For example, the processor, e.g., processor 1040 (Fig. 10), may determine the first interferer to have an estimated power of about -6 dB, for example, based on a magnitude of the first peak 1152.[000395] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may determine an estimated angle of the second interferer and / or an estimated power level of the second interferer, for example, based on the second peak 1154.[000396] For example, the processor, e.g., processor 1040 (Fig. 10), may determine the second interferer to be at an estimated azimuth angle of about 2 degrees, for example, based on an azimuth angle corresponding to the second peak 1154.[000397] For example, the processor, e.g., processor 1040 (Fig. 10), may determine the second interferer to have an estimated power of about -12 dB, for example, based on a magnitude of the second peak 1154.[000398] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine a plurality of angle -based target detection thresholds for target detection, for example, based on detected peaks 1152 and / or 1154.[000399] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine a first target detection threshold corresponding to the estimated angle of the first interferer, for example, based on the detected peak 1152.[000400] For example, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine the first target detection threshold based on the magnitude of the detected peak 1152.[000401] For example, the processor, e.g., processor 1040 (Fig. 10), may be configured to apply the first target detection threshold for target detection in the angle corresponding to the detected peak 1152.[000402] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine a second target detection threshold corresponding to the estimated angle of the second interferer, for example, based on the detected peak 1154.[000403] For example, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine the second target detection threshold based on the magnitude of the detected peak 1154.[000404] For example, the processor, e.g., processor 1040 (Fig. 10), may be configured to apply the second target detection threshold for target detection in the angle corresponding to the detected peak 1154.[000405] In some demonstrative aspects, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine a third target detection threshold corresponding to one or more other angles, e.g., where no interference was detected.[000406] For example, the processor, e.g., processor 1040 (Fig. 10), may be configured to determine the third target detection threshold, for example, based on a noise floor,which is based on energy values corresponding to the one or more other angles in the plurality of 2D range-angle maps, e.g., as described above.[000407] In some demonstrative aspects, processor 1040 (Fig. 10) may detect two aggressors, e.g., the first interfere and the second interferer, for example, by integration of RD maps, e.g., the fourth 2D range-angle map 1140 and / or the second 2D rangeangle map 1120, and averaging, for example, to get the ID azimuth response of energyangle graph 1150.[000408] In some demonstrative aspects, processor 1040 (Fig. 10) may determine interpolated parameters of the two aggressors, e.g., a power level and / or a direction, for example, based on the ID azimuth response of energy-angle graph 1150.[000409] Reference is made to Fig. 12, which schematically illustrates a method of interference detection, in accordance with some demonstrative aspects. For example, one or more of the operations of the method of Fig. 12 may be performed by a radar system, e.g., radar system 900 (Fig. 9), a radar device, e.g., radar device 101 (Fig. 1), radar device 800 (Fig. 8), and / or radar device 910 (Fig. 9); a processor, e.g., processor 1040 (Fig. 10), radar processor 834 (Fig. 8), baseband processor 930 (Fig. 9), and / or controller 950 (Fig. 9).[000410] As indicated at block 1202, the method may include receiving input radar data corresponding to radar Rx signals received by one or more Rx antennas based on radar Tx signals from one or more Tx antennas. For example, processor 1040 (Fig. 10) may receive, e.g., via input 1042 (Fig. 10), input radar data 1043 (Fig. 10) corresponding to the radar Rx signals received by the one or more Rx antennas 1034 (Fig. 10) based on the radar Tx signals from the one or more Tx antennas 1032 (Fig. 10), e.g., as described above.[000411] As indicated at block 1204, the method may include detecting at least one interferer based on a predefined detection criterion applied to a plurality of 2D rangeangle maps. For example, the plurality of 2D range-angle maps may be based on the input radar data. For example, a 2D range-angle map may include a plurality of energy values mapped over a 2D spectrum including a range dimension and an angle dimension. For example, processor 1040 (Fig. 10) may detect the at least one interferer,for example, based on the predefined detection criterion applied to the plurality of 2D range-angle maps, e.g., as described above.[000412] As indicated at block 1206, the method may include determining an estimated angle of the interferer and an estimated power level of the interferer based on the plurality of 2D range-angle maps. For example, processor 1040 (Fig. 10) may determine the estimated angle of the interferer and the estimated power level of the interferer, for example, based on the plurality of 2D range-angle maps, e.g., as described above.[000413] As indicated at block 1208, the method may include providing output data based on the estimated angle of the interferer and the estimated power level of the interferer. For example, processor 1040 (Fig. 10) may be configured to cause output 1046 (Fig. 10) to provide the output data 1045 (Fig. 10) based, for example, on the estimated angle of the interferer and the estimated power level of the interferer, e.g., as described above.[000414] Reference is made to Fig. 13, which schematically illustrates a product of manufacture 1300, in accordance with some demonstrative aspects. Product 1300 may include one or more tangible computer-readable (“machine -readable”) non-transitory storage media 1302, which may include computer-executable instructions, e.g., implemented by logic 1304, operable to, when executed by at least one computer processor, enable the at least one computer processor to implement one or more operations and / or functionalities described with reference to any of the Figs. 1-12, and / or one or more operations described herein. The phrases “non-transitory machine- readable medium” and “computer-readable non-transitory storage media” may be directed to include all machine and / or computer readable media, with the sole exception being a transitory propagating signal.[000415] In some demonstrative aspects, product 1300 and / or machine-readable storage media 1302 may include one or more types of computer-readable storage media capable of storing data, including volatile memory, non-volatile memory, removable or non-removable memory, erasable or non-erasable memory, writeable or re-writeable memory, and the like. For example, machine-readable storage media 1302 may include, RAM, DRAM, Double-Data-Rate DRAM (DDR-DRAM), SDRAM, static RAM (SRAM), ROM, programmable ROM (PROM), erasable programmable ROM(EPROM), electrically erasable programmable ROM (EEPROM), flash memory (e.g., NOR or NAND flash memory), content addressable memory (CAM), polymer memory, phase-change memory, ferroelectric memory, silicon-oxide-nitride-oxide-silicon (SONOS) memory, a disk, a hard drive, and the like. The computer-readable storage media may include any suitable media involved with downloading or transferring a computer program from a remote computer to a requesting computer carried by data signals embodied in a carrier wave or other propagation medium through a communication link, e.g., a modem, radio or network connection.[000416] In some demonstrative aspects, logic 1304 may include instructions, data, and / or code, which, if executed by a machine, may cause the machine to perform a method, process and / or operations as described herein. The machine may include, for example, any suitable processing platform, computing platform, computing device, processing device, computing system, processing system, computer, processor, or the like, and may be implemented using any suitable combination of hardware, software, firmware, and the like.[000417] In some demonstrative aspects, logic 1304 may include, or may be implemented as, software, a software module, an application, a program, a subroutine, instructions, an instruction set, computing code, words, values, symbols, and the like. The instructions may include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, and the like. The instructions may be implemented according to a predefined computer language, manner or syntax, for instructing a processor to perform a certain function. The instructions may be implemented using any suitable high-level, low-level, object-oriented, visual, compiled and / or interpreted programming language, machine code, and the like.EXAMPLES[000418] The following examples pertain to further aspects.[000419] Example 1 includes an apparatus comprising an input to receive input radar data corresponding to radar Receive (Rx) signals received by one or more Rx antennas based on radar Transmit (Tx) signals from one or more Tx antennas; a processor configured to detect at least one interferer based on a predefined detection criterionapplied to a plurality of two-dimensional (2D) range-angle maps, the plurality of 2D range-angle maps are based on the input radar data, wherein a 2D range-angle map comprises a plurality of energy values mapped over a 2D spectrum comprising a range dimension and an angle dimension, wherein the processor is configured to determine an estimated angle of the interferer and an estimated power level of the interferer based on the plurality of 2D range-angle maps; and an output to provide output data based on the estimated angle of the interferer and the estimated power level of the interferer.[000420] Example 2 includes the subject matter of Example 1, and optionally, wherein the detection criterion is based on a plurality of values of a detection parameter corresponding to a respective plurality of angle values in the angle dimension, wherein a value of the detection parameter corresponding to a particular angle value is based on a combination of energy values corresponding to the particular angle value in the plurality of 2D range- angle maps.[000421] Example 3 includes the subject matter of Example 2, and optionally, wherein the processor is configured to determine the value of the detection parameter corresponding to the particular angle value based on a plurality of range-based values corresponding to the particular angle value, wherein the plurality of range-based values correspond to a respective plurality of range values in the range dimension, wherein a range-based value corresponding to a particular range value and the particular angle value is based on a plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps.[000422] Example 4 includes the subject matter of Example 3, and optionally, wherein the processor is configured to determine the range-based value corresponding to the particular range value and the particular angle value based on a statistical function applied to the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps.[000423] Example 5 includes the subject matter of Example 3 or 4, and optionally, wherein the processor is configured to determine the range-based value corresponding to the particular range value and the particular angle value based on a median of the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps.[000424] Example 6 includes the subject matter of any one of Examples 3-5, and optionally, wherein the processor is configured to determine the value of the detection parameter corresponding to the particular angle value based on a statistical function applied to the plurality of range-based values corresponding to the particular angle value.[000425] Example 7 includes the subject matter of any one of Examples 3-6, and optionally, wherein the processor is configured to determine the value of the detection parameter corresponding to the particular angle value based on mean of the plurality of range-based values corresponding to the particular angle value.[000426] Example 8 includes the subject matter of any one of Examples 2-7, and optionally, wherein the detection criterion is based on a comparison between the plurality of values of the detection parameter and a detection threshold.[000427] Example 9 includes the subject matter of any one of Examples 2-8, and optionally, wherein the processor is configured to determine the estimated angle of the interferer based on a detected angle value corresponding to a detected value of the detection parameter, which exceeds a detection threshold.[000428] Example 10 includes the subject matter of any one of Examples 2-9, and optionally, wherein the processor is configured to determine the estimated power level of the interferer based on a detected value of the detection parameter, which exceeds a detection threshold.[000429] Example 11 includes the subject matter of any one of Examples 2-10, and optionally, wherein the processor is configured to determine a count of detected interferers based on a count of detected values of the detection parameter, which exceed a detection threshold.[000430] Example 12 includes the subject matter of any one of Examples 8-11, and optionally, wherein the processor is configured to determine the detection threshold based on a statistical function applied to the plurality of values of the detection parameter.[000431] Example 13 includes the subject matter of any one of Examples 8-12, and optionally, wherein the processor is configured to determine the detection threshold based on a noise floor of the plurality of values of the detection parameter.[000432] Example 14 includes the subject matter of any one of Examples 1-13, and optionally, wherein the processor is configured to determine a plurality of angle-based target detection thresholds for target detection, wherein the plurality of angle-based target detection thresholds comprises a first target detection threshold corresponding to the estimated angle of the interferer, and a second target detection threshold corresponding to one or more other angles, wherein the first target detection threshold is different from the second target detection threshold.[000433] Example 15 includes the subject matter of Example 14, and optionally, wherein the first detection threshold is based on the estimated power level of the interferer.[000434] Example 16 includes the subject matter of Example 14 or 15, and optionally, wherein the one or more other angles do not correspond to any detected interferer, wherein the first detection threshold is higher than the second detection threshold.[000435] Example 17 includes the subject matter of Example 16, and optionally, wherein the second detection threshold is based on a noise floor, which is based on energy values corresponding to the one or more other angles in the plurality of 2D range- angle maps.[000436] Example 18 includes the subject matter of any one of Examples 14-17, and optionally, wherein the processor is configured to generate the output data comprising target detection information corresponding to one or more targets detected based on the plurality of angle-based target detection thresholds.[000437] Example 19 includes the subject matter of any one of Examples 1-18, and optionally, wherein the angle dimension comprises an azimuth dimension, wherein the estimated angle comprises an estimated azimuth angle.[000438] Example 20 includes the subject matter of any one of Examples 1-19, and optionally, wherein the plurality of 2D range-angle maps correspond to a respective plurality of rows of a virtual antenna comprising a convolution of the one or more Rx antennas and the one or more Tx antennas.[000439] Example 21 includes the subject matter of any one of Examples 1-20, and optionally, wherein the processor is configured to determine processed radar data based on the plurality of 2D range-angle maps, the estimated angle of the interferer, and theestimated power level of the interferer, wherein the output data is based on the processed radar data.[000440] Example 22 includes the subject matter of any one of Examples 1-21, and optionally, wherein the processor is configured to generate the output data comprising interference detection information comprising the estimated angle of the interferer, and the estimated power level of the interferer.[000441] Example 23 includes the subject matter of any one of Examples 1-22, and optionally, wherein the predefined detection criterion is based on a spatial correlation between the energy values and one or more angles in the angle dimension.[000442] Example 24 includes the subject matter of any one of Examples 1-23, and optionally, comprising the one or more Tx antennas and the one or more Rx antennas.[000443] Example 25 includes the subject matter of any one of Examples 1-24, and optionally, comprising another processor configured to generate radar information based on the output data.[000444] Example 26 includes the subject matter of Example 25, and optionally, comprising a vehicle, the vehicle comprising a system controller to control one or more systems of the vehicle based on the radar information.[000445] Example 27 includes a radar system comprising the subject matter of any of Examples 1-26.[000446] Example 28 includes a vehicle comprising the subject matter of any of Examples 1-27.[000447] Example 29 includes an apparatus comprising means for performing any of the described operations of any of Examples 1-26.[000448] Example 30 includes a machine-readable medium that stores instructions for execution by a processor to perform any of the described operations of any of Examples 1-26.[000449] Example 31 comprises a product comprising one or more tangible computer- readable non-transitory storage media comprising computer-executable instructions operable to, when executed by at least one processor, enable the at least one processorto cause a device and / or system to perform any of the described operations of any of Examples 1-26.[000450] Example 32 includes an apparatus comprising a memory; and processing circuitry configured to perform any of the described operations of any of Examples 1- 26.[000451] Example 33 includes a method including any of the described operations of any of Examples 1-26.[000452] Functions, operations, components and / or features described herein with reference to one or more aspects, may be combined with, or may be utilized in combination with, one or more other functions, operations, components and / or features described herein with reference to one or more other aspects, or vice versa.[000453] While certain features have been illustrated and described herein, many modifications, substitutions, changes, and equivalents may occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the disclosure.

Claims

CLAIMSWhat is claimed is:

1. An apparatus comprising: an input to receive input radar data corresponding to radar Receive (Rx) signals received by one or more Rx antennas based on radar Transmit (Tx) signals from one or more Tx antennas; a processor configured to detect at least one interferer based on a predefined detection criterion applied to a plurality of two-dimensional (2D) range-angle maps, the plurality of 2D range-angle maps are based on the input radar data, wherein a 2D rangeangle map comprises a plurality of energy values mapped over a 2D spectrum comprising a range dimension and an angle dimension, wherein the processor is configured to determine an estimated angle of the interferer and an estimated power level of the interferer based on the plurality of 2D range-angle maps; and an output to provide output data based on the estimated angle of the interferer and the estimated power level of the interferer.

2. The apparatus of claim 1 , wherein the detection criterion is based on a plurality of values of a detection parameter corresponding to a respective plurality of angle values in the angle dimension, wherein a value of the detection parameter corresponding to a particular angle value is based on a combination of energy values corresponding to the particular angle value in the plurality of 2D range-angle maps.

3. The apparatus of claim 2, wherein the processor is configured to determine the value of the detection parameter corresponding to the particular angle value based on a plurality of range-based values corresponding to the particular angle value, wherein the plurality of range-based values correspond to a respective plurality of range values in the range dimension, wherein a range-based value corresponding to a particular range value and the particular angle value is based on a plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range- angle maps.

4. The apparatus of claim 3, wherein the processor is configured to determine the range-based value corresponding to the particular range value and the particular anglevalue based on a statistical function applied to the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range- angle maps.

5. The apparatus of claim 3, wherein the processor is configured to determine the range-based value corresponding to the particular range value and the particular angle value based on a median of the plurality of energy values corresponding to the particular angle value and the particular range value in the plurality of 2D range-angle maps.

6. The apparatus of claim 3, wherein the processor is configured to determine the value of the detection parameter corresponding to the particular angle value based on a statistical function applied to the plurality of range-based values corresponding to the particular angle value.

7. The apparatus of claim 3, wherein the processor is configured to determine the value of the detection parameter corresponding to the particular angle value based on mean of the plurality of range-based values corresponding to the particular angle value.

8. The apparatus of claim 2, wherein the detection criterion is based on a comparison between the plurality of values of the detection parameter and a detection threshold.

9. The apparatus claim 8, wherein the processor is configured to determine the detection threshold based on a statistical function applied to the plurality of values of the detection parameter.

10. The apparatus of claim 8, wherein the processor is configured to determine the detection threshold based on a noise floor of the plurality of values of the detection parameter.

11. The apparatus of claim 2, wherein the processor is configured to determine the estimated angle of the interferer based on a detected angle value corresponding to a detected value of the detection parameter, which exceeds a detection threshold.

12. The apparatus of claim 2, wherein the processor is configured to determine the estimated power level of the interferer based on a detected value of the detection parameter, which exceeds a detection threshold.

13. The apparatus of claim 2, wherein the processor is configured to determine a count of detected interferers based on a count of detected values of the detection parameter, which exceed a detection threshold.

14. The apparatus of any one of claims 1-13, wherein the processor is configured to determine a plurality of angle-based target detection thresholds for target detection, wherein the plurality of angle-based target detection thresholds comprises a first target detection threshold corresponding to the estimated angle of the interferer, and a second target detection threshold corresponding to one or more other angles, wherein the first target detection threshold is different from the second target detection threshold.

15. The apparatus of claim 14, wherein the first detection threshold is based on the estimated power level of the interferer.

16. The apparatus of claim 14, wherein the one or more other angles do not correspond to any detected interferer, wherein the first detection threshold is higher than the second detection threshold.

17. The apparatus of claim 16, wherein the second detection threshold is based on a noise floor, which is based on energy values corresponding to the one or more other angles in the plurality of 2D range-angle maps.

18. The apparatus of claim 14, wherein the processor is configured to generate the output data comprising target detection information corresponding to one or more targets detected based on the plurality of angle-based target detection thresholds.

19. The apparatus of any one of claims 1-13, wherein the angle dimension comprises an azimuth dimension, wherein the estimated angle comprises an estimated azimuth angle.

20. The apparatus of any one of claims 1-13, wherein the plurality of 2D rangeangle maps correspond to a respective plurality of rows of a virtual antenna comprising a convolution of the one or more Rx antennas and the one or more Tx antennas.

21. The apparatus of any one of claims 1-13, wherein the processor is configured to determine processed radar data based on the plurality of 2D range-angle maps, the estimated angle of the interferer, and the estimated power level of the interferer, wherein the output data is based on the processed radar data.

22. The apparatus of any one of claims 1-13, wherein the processor is configured to generate the output data comprising interference detection information comprising the estimated angle of the interferer, and the estimated power level of the interferer.

23. The apparatus of any one of claims 1-13, wherein the predefined detection criterion is based on a spatial correlation between the energy values and one or more angles in the angle dimension.

24. The apparatus of any one of claims 1-13 comprising the one or more Tx antennas and the one or more Rx antennas.

25. The apparatus of any one of claims 1-13 comprising another processor configured to generate radar information based on the output data.

26. A product comprising one or more tangible computer-readable non-transitory storage media comprising instructions operable to, when executed by at least one processor, enable the at least one processor to: detect at least one interferer based on a predefined detection criterion applied to a plurality of two-dimensional (2D) range-angle maps, the plurality of 2D rangeangle maps are based on input radar data corresponding to radar Receive (Rx) signals received by one or more Rx antennas based on radar Transmit (Tx) signals from one or more Tx antennas, wherein a 2D range-angle map comprises a plurality of energy values mapped over a 2D spectrum comprising a range dimension and an angle dimension, wherein detecting the at least one interferer comprises determining an estimated angle of the interferer and an estimated power level of the interferer based on the plurality of 2D range-angle maps; andprovide output data based on the estimated angle of the interferer and the estimated power level of the interferer.

27. The product of claim 26, wherein the detection criterion is based on a plurality of values of a detection parameter corresponding to a respective plurality of angle values in the angle dimension, wherein a value of the detection parameter corresponding to a particular angle value is based on a combination of energy values corresponding to the particular angle value in the plurality of 2D range-angle maps.

28. A vehicle comprising: a system controller configured to control one or more vehicular systems of the vehicle based on radar information; and a radar system configured to provide the radar information to the system controller, the radar system comprising: one or more Transmit (Tx) antennas to transmit radar Tx signals; one or more Receive (Rx) antennas to receive radar Rx signals based on the radar Tx signals; and a processor configured to: receive input radar data corresponding to radar Receive (Rx) signals received by one or more Rx antennas based on radar Transmit (Tx) signals from one or more Tx antennas; detect at least one interferer based on a predefined detection criterion applied to a plurality of two-dimensional (2D) range-angle maps, the plurality of 2D range-angle maps are based on the input radar data, wherein a 2D range-angle map comprises a plurality of energy values mapped over a 2D spectrum comprising a range dimension and an angle dimension, wherein the processor is configured to determine an estimated angle of the interferer and an estimated power level of the interferer based on the plurality of 2D range- angle maps; and provide output data based on the estimated angle of the interferer and the estimated power level of the interferer, wherein the radar information provided by the radar system is based on the output data.

29. The vehicle of claim 28, wherein the processor is configured to determine a plurality of angle-based target detection thresholds for target detection, wherein the plurality of angle-based target detection thresholds comprises a first target detection threshold corresponding to the estimated angle of the interferer, and a second target detection threshold corresponding to one or more other angles, wherein the first target detection threshold is different from the second target detection threshold.

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