Method and apparatus for speed measurement using a radar sensor

Abstract

To provide systems and methods for measuring a relative velocity between a radar sensor and a radar reflector by a controller component.SOLUTION: This method includes, but is not limited to: causing a radar sensor to transmit a first chirp signal and a second chirp signal toward a radar reflector, where a duration of the first chirp signal is different from a duration of the second chirp signal; causing the radar sensor to receive a first reflected chirp signal of the first chirp signal and a second reflected chirp signal of the second chirp signal; determining a first velocity based on the first chirp signal and the first reflected chirp signal; determining a second velocity based on the second chirp signal and the second reflected chirp signal; and determining the relative velocity between the radar sensor and the radar reflector by comparing the first velocity and the second velocity.SELECTED DRAWING: None

Description

Technical Field

[0001] Exemplary embodiments of the present disclosure generally relate to methods for speed measurement, and more specifically, to methods, apparatuses, and systems for speed measurement using a frequency modulated continuous wave (FMCW) radar sensor.

Background Art

[0002] The applicant has identified many technical problems and difficulties associated with speed measurement by a radar sensor using a frequency modulated continuous wave (FMCW) signal. Through applied effort, ingenuity, and innovation, the applicant has solved problems related to these ground speed sensors by developing the solutions embodied in the present disclosure described in detail below.

Summary of the Invention

[0003] Various embodiments described herein relate to components, apparatuses, and systems for monitoring internal organ temperature.

[0004] According to various embodiments of the present disclosure, a method for measuring a relative speed between a radar sensor and a radar reflector by a controller component is provided. The method includes causing the radar sensor to transmit a first chirp signal and a second chirp signal toward the radar reflector, wherein the duration of the first chirp signal is not equal to the duration of the second chirp signal; causing the radar sensor to receive a first reflected chirp signal of the first chirp signal and a second reflected chirp signal of the second chirp signal; determining a first speed based on the first chirp signal and the first reflected chirp signal of the first chirp signal; determining a second speed based on the second chirp signal and the second reflected chirp signal of the second chirp signal; and determining a relative speed between the radar sensor and the radar reflector by comparing the first speed and the second speed, but not limited thereto.

[0005] In some embodiments, determining the first velocity based on the first chirp signal and the first reflected chirp signal of the first chirp signal includes, but is not limited to, determining a first phase difference between the first chirp signal and the first reflected chirp signal of the first chirp signal, and determining the first velocity based on the first phase difference.

[0006] In some embodiments, the first velocity (V 1 ) is determined by the following formula,

[0007]

Number

[0008]

Number

[0009] In some embodiments, determining the second velocity based on the second chirp signal and the second reflected chirp signal of the second chirp signal includes, but is not limited to, determining a second phase difference between the second chirp signal and the second reflected chirp signal of the second chirp signal, and determining the second velocity based on the second phase difference.

[0010] In some embodiments, the second velocity (V 2 ) is determined by the following formula,

[0011]

Number

[0012]

Number

[0013] In some embodiments, when the first speed is substantially equal to the second speed, determining the relative speed between the radar sensor and the radar reflector is equal to the first speed.

[0014] In some embodiments, when the first speed is not substantially equal to the second speed, the following equation:

[0015]

Number

[0016]

Number

[0017]

Number

[0018]

Number

[0019]

Number

[0020]

Number

[0021] In some embodiments, when the first recalculated speed is substantially equal to the second recalculated speed, the relative speed between the radar sensor and the radar reflector is equal to the first recalculated speed.

[0022] In some embodiments, the radar sensor is attached to an object, the radar reflector is stationary, and the speed of the object is equal to the relative speed between the radar sensor and the radar reflector.

[0023] In some embodiments, the radar reflector is attached to an object, the radar sensor is stationary, and the speed of the object is equal to the relative speed between the radar sensor and the radar reflector.

[0024] In some embodiments, the radar sensor includes, but is not limited to, at least one transmitter configured to transmit the first chirp signal and the second chirp signal, and at least one receiver configured to receive the first reflected chirp signal of the first chirp signal and the second reflected chirp signal of the second chirp signal.

[0025] According to another embodiment, an apparatus for measuring the relative speed between a radar sensor and a radar reflector is provided. The apparatus includes a radar sensor, a radar reflector, and a controller component. The controller component is configured to cause the radar sensor to transmit a first chirp signal and a second chirp signal toward the radar reflector, wherein the duration of the first chirp signal is not equal to the duration of the second chirp signal. The controller component is further configured to cause the radar sensor to receive a first reflected chirp signal of the first chirp signal and a second reflected chirp signal of the second chirp signal, determine a first speed based on the first chirp signal and the first reflected chirp signal of the first chirp signal, determine a second speed based on the second chirp signal and the second reflected chirp signal of the first chirp signal, and determine the relative speed between the radar sensor and the radar reflector by comparing the first speed and the second speed. The apparatus may include other components, but is not limited thereto.

[0026] The foregoing exemplary summary, as well as other exemplary objects and / or advantages of the present disclosure, and the manner in which they are achieved, are further described in the following detailed description of the invention and its accompanying drawings.

Brief Description of the Drawings

[0027] The description of the exemplary embodiments can be read in conjunction with the accompanying drawings. It will be understood that, unless otherwise specified, the elements illustrated in the drawings are not necessarily drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements unless otherwise specified. Embodiments incorporating the teachings of the present disclosure are shown and described in connection with the figures presented herein.

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 5

Figure 6

Figure 7

[0028] Next, some embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, which show some, but not all embodiments of the present disclosure. In fact, the present disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Like numbers refer to like elements throughout.

[0029] As used herein, terms such as "front", "rear", "top", etc. are used for illustrative purposes to describe the relative position of a particular component or a part of a component in the embodiments provided below. Further, as will be apparent to those skilled in the art from the perspective of the present disclosure, the terms "substantially" and "approximately" indicate that the referenced element or related description is accurate within applicable engineering tolerances.

[0030] As used herein, the term "comprising" means including but not limited to and should be construed in a manner typically used in the patent context. It is to be understood that the use of broader terms such as "comprises", "includes", and "having" supports narrower terms such as "consisting of", "consisting essentially of", and "comprised substantially of".

[0031] Phrases such as "in one embodiment" and "according to one embodiment" generally mean that the particular features, structures, or characteristics following such phrases can be included in at least one embodiment of the present disclosure and can be included in two or more embodiments of the present disclosure (importantly, such phrases do not necessarily refer to the same embodiment).

[0032] As used herein, the word "example" or "exemplary" means "serving as an example, instance, or illustration". No implementation form described herein as "exemplary" should be construed as necessarily being more preferred or advantageous than other implementation forms.

[0033] When this specification states that a component or feature "may include", "is capable of including", "might include", "should include", "would include", "preferably includes", "optionally includes", "typically includes", "optionally includes", "for example, includes", "often includes" or "may include" (or other such language), or describes having a certain property, that specific component or feature is not required to be included or to have that property. Such a component or feature may optionally be included in or excluded from some embodiments.

[0034] Various exemplary embodiments address exemplary technical problems related to determining the exact speed of a moving object (e.g., the relative speed between a radar sensor and a radar reflector). As will be understood by those skilled in the art in the field related to the present disclosure, for example, the relative speed between two points such as a radar sensor and a radar reflector can be determined by emitting a radar signal (e.g., a chirp signal, a ping, etc.), receiving a feedback signal reflected from the radar reflector, and determining the relative speed between the radar sensor and the radar reflector based on the phase change between the radar signal and the feedback signal due to the Doppler effect. For example, the relative speed between a radar sensor and a radar reflector may be proportional to the phase change due to the Doppler effect. Therefore, the accuracy of the determined relative speed depends on the measurement of the phase change between the radar signal and the feedback signal. However, when the phase change is within the range of -π to π and a specific peak speed is out of range, the measurement of the phase change becomes clear. Therefore, there is a limit to the maximum speed measured by existing techniques.

[0035] Additionally or alternatively, in some examples, the maximum speed that can be measured by existing techniques is inversely proportional to the duration of the chirp signal, and the speed resolution is proportional to the duration of the chirp signal. Therefore, there is a paradox when determining the duration of the chirp signal to improve the maximum speed and the speed resolution simultaneously.

[0036] To address at least these exemplary problems and other problems, the exemplary systems and methods described herein transmit and receive at least two chirp signals having different durations. A first velocity may be determined based on a first chirp signal and a first reflected chirp signal of the first chirp signal, and a second velocity may be determined based on a second chirp signal and a second reflected chirp signal of the second chirp signal. The velocity of an object may be determined based on the first velocity and the second velocity. In some embodiments, the various embodiments described in the present disclosure herein are directed to overcoming the ambiguity of velocity measurement based on phase difference measurement. In some embodiments, the various embodiments described in the present disclosure herein are directed to solving these technical problems related to removing the limitation on the maximum velocity and improving the velocity resolution.

[0037] As a result of the embodiments and some examples described herein, the maximum velocity and velocity resolution by a radar sensor can be simultaneously improved, and in some examples, the accuracy of velocity measurement can be improved without an increase in cost and power required by previous existing technologies.

[0038] Referring now to FIG. 1, an exemplary diagram is provided illustrating an apparatus 100 for measuring a relative velocity V r between a radar sensor and a radar reflector according to some exemplary embodiments described herein. As shown in FIG. 1, the exemplary apparatus 100 may comprise a radar sensor 101, a radar reflector 102, and a controller component 150. For example, the apparatus 100 may be configured to determine a relative velocity V r between the radar sensor 101 and the radar reflector 102 by the controller component 150.

[0039] In some embodiments, the controller component 150 may be electrically coupled to and / or in electronic communication with the radar sensor 101.

[0040] In some embodiments, the radar sensor 101 may be configured to transmit at least two chirp signals towards the radar reflector 102. In some embodiments, the radar reflector 102 can reflect at least two chirp signals and return them to the radar sensor 101. In some embodiments, the radar sensor 101 may be further configured to receive the reflected chirp signals of at least two chirp signals. In some examples, each of the at least two chirp signals may be a signal whose frequency increases / decreases with time. In some examples, each of the at least two chirp signals may be a signal whose amplitude increases / decreases with time.

[0041] In some embodiments, for example, the at least two chirp signals may be frequency-modulated continuous wave (FMCW) signals. For example, each of the at least two chirp signals may have a frequency that linearly increases / decreases with time.

[0042] In some embodiments, for example, the radar sensor 101 is attached to and moves with the object 103, the radar reflector 102 is stationary, and the speed of the object 103 is equal to the relative speed between the radar sensor and the radar reflector.

[0043] In some embodiments, for example, the radar reflector 102 is attached to and moves with the object 103, the radar sensor 101 is stationary, and the speed of the object 103 is equal to the relative speed between the radar sensor and the radar reflector.

[0044] In some embodiments, for example, as shown in FIG. 1, the exemplary device 100 may be implemented in an elevator system to measure the speed of an elevator cage (e.g., the object 103). In some examples, the elevator system may include the exemplary device 100, an elevator shaft 104, an elevator support 105 disposed within the elevator shaft 104, and an elevator cage (the object 103) attached to the elevator support 105.

[0045] In some embodiments, the elevator system may further include a motor driver 108, a drive shaft 106, and a cable 107. For example, the motor driver 108 may be configured to provide a driving force via the cable 107 and the drive shaft 106 to move the elevator cage 103 along the elevator shaft 104.

[0046] Referring now to FIG. 2, a schematic block diagram depicting an exemplary radar sensor according to various embodiments of the present disclosure is provided.

[0047] In some embodiments, as shown in FIG. 2, for example, the radar sensor 101 may include a synthesizer 201, at least one radar transmitter 202, at least one radar receiver 203, and a frequency mixer 204. In some embodiments, the synthesizer 201 may be configured to generate at least two chirp signals.

[0048] In some embodiments, at least one radar transmitter 202 may be configured to transmit at least two chirp signals toward the radar reflector 102. In some embodiments, at least one radar receiver 203 may be configured to receive the reflected chirp signals of at least two chirp signals.

[0049] In some embodiments, the frequency mixer 204 may be configured to combine the reflected signals of at least two chirp signals and at least two chirp signals. In some examples, the phase difference between the reflected signals of at least two chirp signals and at least two chirp signals may be calculated / determined based on the reflected signals of at least two chirp signals and at least two chirp signals.

[0050] Referring now to FIG. 3, a schematic diagram depicting exemplary signals and reflected signals according to various embodiments of the present disclosure is provided.

[0051] In some embodiments, as shown in FIG. 3, for example, an exemplary signal transmitted by the radar sensor 101 may include a first chirp signal 301 and a second chirp signal 302.

[0052] In some embodiments, for example, the first chirp signal 301 has a first duration T c1 during which the frequency of the first chirp signal 301 linearly changes with time from a first frequency f 1 to a second frequency f 2 In some embodiments, for example, the second chirp signal 302 has a first duration T c2 during which the frequency of the second chirp signal 302 linearly changes with time from a first frequency f 1 to a second frequency f 2 In some embodiments, as shown in FIG. 3, for example, an exemplary reflected signal received by the radar sensor 101 may include a first reflected chirp signal 303 of the first chirp signal 301 and a second reflected chirp signal 304 of the second chirp signal 302.

[0053] In some embodiments, the first speed V

[0054] 1 may be determined based on the first chirp signal 301 and the first reflected signal 303 of the first chirp signal 301. In some embodiments, the second speed V 2 1 may be determined based on the second chirp signal 302 and the second reflected chirp signal 304 of the second chirp signal 302.

[0055] In some embodiments, determining the first speed V 1 based on the first chirp signal 301 and the first reflected chirp signal 303 of the first chirp signal 301 includes determining a first phase difference Δφ 1 between the first chirp signal 301 and the first reflected chirp signal 303 of the first chirp signal 301, and determining the first speed V 1 based on the first phase difference Δφ 1may include determining. In some embodiments, the first phase difference Δφ 1 may depend on the time delay between the first chirp signal 301 and the first reflected chirp signal 303 of the first chirp signal 301.

[0056] In some embodiments, determining the second velocity V 2 based on the second chirp signal 302 and the second reflected chirp signal 304 of the second chirp signal 302 may include determining a second phase difference Δφ 2 between the second chirp signal 302 and the second reflected chirp signal 304 of the second chirp signal 302, and determining the second velocity V 2 based on the second phase difference Δφ 2 may include. In some embodiments, the second phase difference Δφ 2 may depend on the time delay between the second chirp signal 302 and the second reflected chirp signal 304 of the second chirp signal 302.

[0057] In some embodiments, the first velocity (V 1 ) may be determined by the following equation (Eq. 1).

[0058]

Number

[0059]

Number

[0060] In some embodiments, the second velocity V 2can be determined by the following equation (Eq. 2).

[0061] [Number] where λ is the wavelength of the second chirp signal 302, T c2 is the duration of the second chirp signal 302, and Δφ 2 is the second phase difference between the second chirp signal 302 and the second reflected chirp signal 304 of the second chirp signal 302, and k 2 is

[0062] [Number] is equal to.

[0063] Referring back to FIG. 1, in some embodiments, the relative velocity V between the radar sensor 101 and the radar reflector 102 r can be determined based on the first velocity V 1 and the second velocity V 2 .

[0064] In some embodiments, the relative velocity V between the radar sensor 101 and the radar reflector 102 r is the first velocity V 1 when the second velocity V 2 is substantially equal to the first velocity V 1 or the second velocity V 2 and may be equal to.

[0065] In some examples, when the absolute value of the difference between the first velocity V 1 and the second velocity V 2 is smaller than a preset threshold ΔV, the first velocity V 1 is considered to be substantially equal to the second velocity V 2 . For example, the preset threshold ΔV is generally 5% of the first velocity V 1 , preferably 5% of the first velocity V 11%, more preferably the first speed V 1 can be 0.1%. For example, the pre-set threshold ΔV is generally the first speed V 2 5%, preferably the first speed V 2 1%, more preferably the first speed V 2 can be 0.1%.

[0066] In some embodiments, when the absolute value of the difference between the first speed V 1 and the second speed V 2 is greater than or equal to the pre-set threshold ΔV, the first speed V 1 is considered to be not substantially equal to the second speed V 2 .

[0067] In some embodiments, when the first speed V 1 is not substantially equal to the second speed V 2 , the first recalculated speed

[0068]

Number

[0069]

Number

[0070] In some embodiments, the first recalculated speed

[0071]

Number

[0072]

Number

[0073]

Number

[0074] In some embodiments, the second recalculated speed

[0075]

Number

[0076]

Number

[0077]

Number

[0078] Here, referring to FIG. 4A, a schematic diagram is provided depicting an exemplary equation table for determining the first recalculated speed and the second recalculated speed according to various embodiments of the present disclosure.

[0079] As shown in FIG. 4A, for illustrative purposes, the first recalculated speed

[0080]

Number

[0081]

Number

[0082] In some embodiments, the first recalculated speed

[0083]

Number

[0084]

Number

[0085] In some embodiments, the first recalculated speed

[0086]

Number

[0087]

Number

[0088]

Mathematics

[0089]

Mathematics

[0090] In some embodiments, the first recalculated speed

[0091]

Mathematics

[0092]

Mathematics

[0093]

Mathematics

[0094]

Mathematics

[0095]

Mathematics

[0096]

Number

[0097]

Number

[0098]

Number

[0099]

Number

[0100]

Number

[0101] In some embodiments, the first recalculated speed

[0102]

Number

[0103]

Number

[0104]

Number

[0105]

Number

[0106] In some embodiments, the first recalculated speed

[0107]

Number

[0108]

Number

[0109] Referring now to FIG. 4B, there is provided a schematic diagram depicting a clear region for determining the relative speed between a radar sensor and a radar reflector according to various embodiments of the present disclosure.

[0110] For example, as shown at the top of FIG. 4B, by using a technique that employs two chirp pulses having the same duration T c the clear region during speed measurement is within a phase difference range of -π to π. In various embodiments, as shown at the bottom of FIG. 4B, by using a technique that employs two chirp pulses having different durations, the clear region during speed measurement is expanded. For example, the maximum speed that can be measured can be determined by the following equation (Eq. 5).

[0111]

Number

[0112]

Number

[0113] Referring now to FIG. 5, a schematic diagram depicting a controller component 150 according to various embodiments of the present disclosure. As shown, the controller component 150 may include a processing circuit 501, a communication module 503, an input / output module 505, a memory 507, and / or other components configured to perform various operations, procedures, functions, etc. described herein.

[0114] As shown in FIG. 5, the controller component 150 (such as the processing circuit 501, the communication module 503, the input / output module 505, and the memory 507) is electrically coupled to and / or communicates electronically with the radar sensor 101. As depicted, the radar sensor 101 may exchange (e.g., transmit and receive) data with the processing circuit 501 of the controller component 150. For example, the radar sensor 101 may generate sensor data and transmit the sensor data to the processing circuit 501.

[0115] The processing circuit 501 can be implemented as various devices including, for example, one or more microprocessors with a digital signal processor, one or more processors without a digital signal processor, one or more coprocessors, one or more multi-core processors, one or more controllers, a processing circuit, one or more computers, and various other processing elements (including integrated circuits such as ASICs or FPGAs, or specific combinations thereof). In some embodiments, the processing circuit 501 may include one or more processors. In an exemplary embodiment, the processing circuit 501 is configured to execute instructions stored in the memory 507 or instructions accessible by the processing circuit 501. When executed by the processing circuit 501, these instructions may enable the controller component 150 to perform one or more of the functions described herein. Whether configured by hardware, firmware / software methods, or a combination thereof, the processing circuit 501 may include an entity capable of performing operations according to embodiments of the present invention when correspondingly configured. Thus, for example, when the processing circuit 501 is implemented as an ASIC, FPGA, etc., the processing circuit 501 may include hardware specifically configured to implement one or more of the operations described herein. Alternatively, as another example, when the processing circuit 501 is implemented as an actuator for instructions (such as instructions that may be stored in the memory 507), the instructions may specifically configure the processing circuit 501 to execute one or more of the algorithms and operations described herein.

[0116] Memory 507 may include, for example, volatile memory, non-volatile memory, or a specific combination thereof. Although illustrated as a single memory in FIG. 5, memory 507 may include multiple memory components. In various embodiments, memory 507 may include, for example, a hard disk drive, random access memory, cache memory, flash memory, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disk Read-Only Memory (DVD-ROM), optical disk, a circuit configured to store information, or a specific combination thereof. Memory 507 may be configured to store information, data, application programs, instructions, etc., so that the controller component 150 can execute various functions according to embodiments of the present disclosure. For example, in at least some embodiments, memory 507 is configured to cache input data for processing by the processing circuit 501. Additionally or alternatively, in at least some embodiments, memory 507 is configured to store program instructions for execution by the processing circuit 501. Memory 507 may store information in the form of static information and / or dynamic information. When a function is executed, the stored information may be stored and / or used by the controller component 150.

[0117] The communication module 503 can be implemented as any device included in a circuit, hardware, computer program product, or a combination thereof configured to receive and / or transmit data from / to another component or device. The computer program product is stored on a computer-readable medium (e.g., memory 507) and includes computer-readable program instructions executable by a controller component 150 (e.g., processing circuit 501). In some embodiments, the communication module 503 (similar to other components discussed herein) can be at least partially implemented as or controlled by the processing circuit 501. In this regard, the communication module 503 can communicate with the processing circuit 501 via, for example, a bus. The communication module 503 can include, for example, an antenna, a transmitter, a receiver, a transceiver, a network interface card and / or support hardware and / or firmware / software and is used to establish communication with another device. The communication module 503 can be configured to receive and / or transmit any data storable by the memory 507 by using any protocol that can be used for communication between devices. Additionally or alternatively, the communication module 503 can communicate with the memory 507, the input / output module 505, and / or any other component of the controller component 150 via, for example, a bus.

[0118] In some embodiments, the controller component 150 may include an input / output module 505. The input / output module 505 may communicate with the processing circuit 501 to receive instructions input by a user and / or provide auditory, visual, mechanical, or other outputs to the user. Accordingly, the input / output module 505 may include support devices such as a keyboard, a mouse, a display, a touch screen display, and / or other input / output mechanisms. Alternatively, at least some aspects of the input / output module 505 may be implemented on a device used by a user to communicate with the controller component 150. The input / output module 505 may communicate with the memory 507, the communication module 503, and / or any other component via, for example, a bus. One or more input / output modules and / or other components may be included in the controller component 150.

[0119] Next, referring to FIG. 6, an exemplary flowchart is provided that illustrates an exemplary method for measuring the relative speed between a radar sensor and a radar reflector by a controller component according to some exemplary embodiments of the present disclosure. Note that each block of the flowchart, and combinations of blocks in the flowchart, may be implemented by various means such as hardware, firmware, circuits, and / or other devices associated with the execution of one or more computer program instructions, such as software. For example, one or more of the steps / operations illustrated in FIG. 6 may be embodied by computer program instructions stored in a non-transitory memory of an apparatus using embodiments of the present disclosure and executed by a processor component within the apparatus (such as, but not limited to, a controller component, a programmable processor, a mobile device, a remote computing server, and / or the like). For example, these computer program instructions may instruct the processor component to function in a particular manner such that the instructions stored in the computer-readable storage memory create a product and its execution implements the functions specified in the flowchart blocks.

[0120] As described above and understood based on the present disclosure, embodiments of the present disclosure may include various means including only hardware or any combination of software and hardware. Further, embodiments may take the form of a computer program product on at least one non-transitory computer-readable storage medium having computer-readable program instructions (e.g., computer software) embodied therein. Similarly, embodiments may take the form of computer program code stored on at least one non-transitory computer-readable storage medium. Any suitable computer-readable storage medium including a non-transitory hard disk, CD-ROM, flash memory, optical storage device, or magnetic storage device may be utilized.

[0121] Referring now to FIG. 6, an exemplary method 600 for measuring the relative speed between a radar sensor and a radar reflector according to some exemplary embodiments described herein is illustrated. The exemplary method 600 may be executed by a computing device associated with a controller component (e.g., controller component 150 illustrated and described above in relation to at least FIG. 1) including a processing circuit and a memory (e.g., processing circuit 501 and memory 507 illustrated and described above in relation to at least FIG. 5).

[0122] In step / operation 602, the controller component 150 may cause the radar sensor 101 to transmit a first chirp signal 301 and a second chirp signal 302 towards the radar reflector 102.

[0123] In some embodiments, for example, the first chirp signal 301 may linearly vary the frequency of the first chirp signal 301 from a first frequency f c1 to a second frequency f 1 over a first duration T 2 with time. In some embodiments, for example, the second chirp signal 302 may have the first duration T c2wherein the frequency of the second chirp signal 302 can be linearly changed with time from a first frequency f 1 to a second frequency f 2 In some embodiments, the duration T c1 of the first chirp signal 301 may be different from the duration T c2 of the second chirp signal 302.

[0124] In some embodiments, the radar reflector 102 may reflect the first chirp signal 301 and the second chirp signal 302 back to the radar sensor 101.

[0125] In step / operation 604, the controller component 150 may cause the radar sensor 101 to receive a reflected signal from the radar reflector 102.

[0126] In some embodiments, as shown in FIG. 3, for example, the reflected signal received by the radar sensor 101 may include a first reflected chirp signal 303 of the first chirp signal 301 and a second reflected chirp signal 304 of the second chirp signal 302.

[0127] In step / operation 606, the controller component 150 may determine a first velocity V 1 based on the first chirp signal 301 and the first reflected chirp signal 303 of the first chirp signal 301.

[0128] In some embodiments, the controller component 150 may determine a first phase difference Δφ 1 between the first chirp signal 301 and the first reflected chirp signal 303 of the first chirp signal 301 based on the first chirp signal 301 and the first reflected chirp signal 303 of the first chirp signal 301.

[0129] In some embodiments, the controller component 150 may determine a first phase difference Δφ 1Based on this, the first speed (V 1 ) can be determined.

[0130] In some embodiments, the controller component 150 can determine the first speed (V 1 ) according to Eq.1.

[0131] In step / operation 608, the controller component 150 can determine the second speed V 2 based on the second chirp signal 302 and the second reflected chirp signal 304 of the first chirp signal 301.

[0132] In some embodiments, the controller component 150 can determine the second phase difference Δφ 2 between the second chirp signal 302 and the second reflected chirp signal 304 of the second chirp signal 302 based on the second chirp signal 302 and the second reflected chirp signal 304 of the second chirp signal 302.

[0133] In some embodiments, the controller component 150 can determine the second phase difference Δφ 2 between the second chirp signal 302 and the second reflected chirp signal 304 of the second chirp signal 302. 2 Based on this, the second speed (V

[0134] In some embodiments, the controller component 150 can determine the second speed (V 2 ) according to Eq.2.

[0135] In step / operation 610, the controller component 150 can determine the relative speed between the radar sensor and the radar reflector 102 based on the first speed (V 1 ) and the second speed (V 2 ).

[0136] Referring now to FIG. 7, the first speed (V 1 ) and the second speed (V 2)Based on, an exemplary method 700 for performing a step / operation 610 of determining a relative speed between a radar sensor and a radar reflector 102 is illustrated by a flowchart diagram.

[0137] In step / operation 702, the controller component 150 may compare a first speed (V 1 ) with a second speed (V 2 ).

[0138] In some embodiments, if the first speed V 1 is substantially equal to the second speed V 2 , the exemplary method 700 may proceed to step / operation 704.

[0139] In step / operation 704, the controller component 150 may determine that the relative speed V r between the radar sensor 101 and the radar reflector 102 is equal to the first speed V 1 or the second speed V 2 .

[0140] In some embodiments, if the first speed V 1 is not substantially equal to the second speed V 2 , the exemplary method 700 may proceed to step / operation 706.

[0141] In step / operation 706, the controller component 150 may select a first integer p 1 and a second integer p 2 .

[0142] In some embodiments, p 1 and p 2 may be selected from a pre-set range. For example, p 1 and p 2 may be selected from the range of -10 to 10, preferably from the range of -5 to 5, more preferably from the range of -2 to 2.

[0143] In step / operation 708, the controller component 150 may determine a first recalculated speed

[0144]

Number

[0145] In some embodiments, the controller component 150 may determine a first recalculated speed

[0146]

Number

[0147] In step / operation 710, the controller component 150 may determine a second recalculated speed

[0148]

Number

[0149] In some embodiments, the controller component 150 may determine a second recalculated speed

[0150]

Number

[0151] In step / operation 712, the controller component 150 may determine a first recalculated speed

[0152]

Number

[0153]

Number

[0154] In some embodiments, the first recalculated speed

[0155]

Number

[0156]

Number

[0157] In step / operation 714, the controller component 150 determines the relative speed V between the radar sensor 101 and the radar reflector 102 r is the first recalculated speed

[0158]

Number

[0159]

Number

[0160] In some embodiments, the first recalculated speed

[0161]

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[0162]

Number

[0163] In some embodiments, at step / operation 706, at least one of the first integer p 1 and the second integer p 2 is different from a previously selected p 1 and p 2 which are different.

[0164] In some embodiments, step / operation 706 iterates over a preset range to find a first recalculated speed

[0165]

Number

[0166]

Number

[0167] As described above and as understood based on the present disclosure, embodiments of the present disclosure may include various means including only hardware or any combination of software and hardware. Further, embodiments may take the form of a computer program product on at least one non-transitory computer-readable storage medium having computer-readable program instructions (e.g., computer software) embodied therein. Similarly, embodiments may take the form of computer program code stored on at least one non-transitory computer-readable storage medium. Any suitable computer-readable storage medium may be utilized, including a non-transitory hard disk, CD-ROM, flash memory, optical storage device, or magnetic storage device.

[0168] It should be understood that the present disclosure is not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of the appended claims. Specific terms are used herein, but unless otherwise explained, these are used only in a general and descriptive sense and not for purposes of limitation.

Claims

1. 1. A method for measuring relative velocity between a radar sensor and a radar reflector by a controller component, comprising: causing the radar sensor to alternately transmit a first chirp signal and a second chirp signal toward the radar reflector, the duration of the first chirp signal being different from the duration of the second chirp signal; causing the radar sensor to receive a first reflected chirp signal of the first chirp signal and a second reflected chirp signal of the second chirp signal; determining a first velocity based on a phase difference between the first chirp signal and the first reflected chirp signal of the first chirp signal; determining a second velocity based on a phase difference between the second chirp signal and the second reflected chirp signal of the second chirp signal; determining the relative velocity between the radar sensor and the radar reflector by comparing the first velocity and the second velocity, comparing the first velocity with the second velocity; determining the relative velocity as the first velocity in response to determining that the first velocity is close to the second velocity; and repeating the determination of the first speed and the second speed based on a preset integer in response to determining that the first speed is not close to the second speed; determining the relative velocity, A method comprising:

2. The first velocity (V １ ) is expressed by the following formula: [0010] where λ is the wavelength of the first chirp signal, and T ｃ１ is the duration of the first chirp signal, and Δφ １ is the first phase difference between the first chirp signal and the first reflected chirp signal of the first chirp signal, and k １ teeth, [0025] The method of claim 1 , wherein the Δt is equal to

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