Radar Range Rate Disambiguation via Coherent Tracking
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Solution Overview
Problem
Autonomous vehicles face delays due to ambiguities in velocity estimates from radar devices, which are caused by finite sampling of RF pulses, leading to aliasing effects that require multiple frames of data for resolution.
Innovation Solution
A novel process is introduced to disambiguate velocity estimates using a single radar frame by tracking range migration during the coherent processing interval, allowing for the computation of actual object velocities by eliminating velocity aliases.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple frames of radar data are collected to resolve velocity ambiguities, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The patent applies preliminary action by using range migration information obtained during the coherent processing interval to pre-establish a mapping relationship between range migration and velocity aliases before velocity disambiguation is needed. This allows the system to quickly determine the actual velocity by comparing range migration with pre-computed alias velocities, eliminating the need to collect and process multiple frames of radar data, thus resolving the contradiction between measurement precision and time loss
Solution Approach 2:
The patent uses range migration as an intermediary to resolve velocity ambiguities. By tracking how the range to a target changes over the coherent processing interval and comparing this range migration to the expected range migration at different alias velocities, the system can identify the actual velocity without needing multiple frames of data. The range migration serves as a mediator that connects the ambiguous velocity measurements to the true velocity
2Measurement precision
If alias velocities are computed and compared to determine actual velocity, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent extracts and utilizes the range migration component from the radar data as a separate, independent parameter for velocity disambiguation. By extracting the range migration information and comparing it with pre-computed alias velocity relationships, the system avoids the need for complex iterative comparison of multiple frames of data, thereby improving measurement precision while reducing processing complexity
Solution Approach 2:
The patent changes the parameter used for velocity disambiguation from time-based multi-frame comparison to range-based migration analysis. By transforming the problem from comparing velocities across multiple time frames to analyzing range migration within a single coherent processing interval, the system achieves accurate velocity disambiguation with reduced computational complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the rapid determination of actual object velocities from a single radar frame, reducing deployment delays and improving the accuracy of autonomous vehicle navigation.
Implementation Method 1
radio detection and ranging (RADAR) sensor
Implementation Method 2
velocity (or range rate) estimates are ambiguous due to finite sampling of the radio frequency (RF) pulses transmitted and received by the radar
Data Source
AI summary
The present disclosure generally relates to identifying an actual velocity of an object and in particular, for identifying an actual velocity of an object by taking into consideration alias velocities computed using a radar device. A process of the disclosed technology can include steps for transmitting a set of radar pulses to determine an initial velocity estimate associated with an object, calculating a first peak energy return value corresponding with the initial velocity estimate, and selecting an alias velocity based on the first velocity estimate. In some aspects, the process can further include steps for calculating a second peak energy return value corresponding with the alias velocity, and comparing the first peak energy return value with the second peak energy return value to determine an actual velocity of the object. Systems and machine-readable media are also provided.