Vehicle Radar Velocity and Acceleration Vector Determination
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Solution Overview
Problem
Existing vehicle radar systems face challenges in determining complete velocity and acceleration vectors for tracked objects in as few radar cycles as possible, while maintaining reliability and accuracy, especially in the presence of noise and outliers.
Innovation Solution
A vehicle radar system that selects specific detections for velocity and acceleration components, calculates radial velocities, determines errors, and identifies inliers within an error threshold, choosing the set of components that results in the largest number of inliers to group detections as an extended object, using methods like RANSAC to robustly estimate velocity and acceleration vectors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complete velocity and acceleration vectors are determined using traditional methods, then measurement precision is improved, but the number of radar cycles required increases and computational complexity increases
Solution Approach 1:
The patent applies partial action by selecting only the necessary minimum number of detections (one for velocity components, one for acceleration components) rather than using all available detections. This selective approach allows complete vector determination in fewer radar cycles while maintaining measurement precision through targeted component selection and calculation.
2Measurement precision
If complete velocity and acceleration vectors are determined using traditional methods, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent extracts and processes only the essential velocity and acceleration components from the detections rather than performing comprehensive processing on all detection data. By taking out only the necessary components (one detection for velocity, one for acceleration) and calculating their specific parameters, the system achieves accurate vector determination with reduced computational complexity.
3Reliability
If all detections are processed to determine velocity vectors, then reliability is improved, but the number of radar cycles required increases
Solution Approach 1:
The patent applies preliminary action by pre-selecting the most informative detections for velocity and acceleration component extraction before performing full vector calculations. This preliminary selection of key detections (one for velocity, one for acceleration) ensures reliable object tracking while completing the process in fewer radar cycles by avoiding unnecessary processing of redundant detection data.
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 improves object tracking performance and ego dynamics estimation, maintaining robustness even with low detection numbers and noise, by utilizing multiple radar cycles and simplifying calculations to optimize velocity and acceleration components simultaneously.
Implementation Method 1
for each one of a plurality of radar cycles, provide a measured azimuth angle and a measured radial velocity
Implementation Method 2
the vehicle radar system includes a radar transceiver arranged for generating radar signals that are transmitted, reflected and received
Data Source
AI summary
A vehicle radar system (3) which, for each one of a plurality of radar cycles, is arranged to, provide a measured azimuth angle (θm) and radial velocity (vdm) for a first plurality of detections (9, 20). For each one of the plurality of radar cycles, the radar system (3) is arranged to select one of these detections for each one of two velocity components (vx, vy) in a set of components (vx, vy, ax, ay; a) to be determined; select one detection from a second plurality of detections (9, 20) for each one of at least one corresponding acceleration component (ax, ay; a); calculate the components (vx, vy, ax, ay; a) for the selected detections; determine a calculated radial velocity (vdc) for each one of at least a part of the other detections in the first plurality of detections (9, 20) using the calculated components (vx, vy, ax, ay; a); determine an error between each calculated and measured radial velocity (vdc, vdm); and determine the number of inliers. The set of components (vx, vy, ax, ay; a) that results in the largest number of inliers is then chosen.