Radar-Based Vehicle Motion Estimation Through Range-Doppler Filtering
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Solution Overview
Problem
Existing vehicle motion estimation and control systems lack robustness and accuracy, particularly in determining vehicle motion parameters such as speed, acceleration, and pitch/roll angles, due to interference from clutter and distortion from objects other than the ground surface.
Innovation Solution
A computer-implemented method using radar transceivers to emit signals towards the ground surface, processing radar backscatter through range-Doppler filtering to enhance accuracy by filtering out clutter and distortion, and determining vehicle motion parameters like speed, acceleration, and pitch/roll angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If radar signals are used to determine vehicle motion parameters, then motion estimation capability is provided, but clutter and distortion from objects other than the ground surface reduce measurement precision
Solution Approach 1:
The patent extracts and isolates the ground surface backscatter signal from the total radar reception by using expected range-Doppler appearance patterns. The filter selectively processes only those signal components that match the characteristic ground surface signature, effectively separating the useful ground reflection from harmful clutter caused by other objects in the environment.
Solution Approach 2:
The patent transforms the raw radar backscatter signal into a processed signal by applying a filter designed in the range-Doppler domain. This parameter transformation allows the system to distinguish ground surface reflections from other objects based on their different range-Doppler characteristics, thereby changing the signal parameters to enhance measurement precision while suppressing clutter.
2Measurement precision
If radar backscatter from ground surface is processed to filter clutter, then measurement precision improves, but device complexity increases due to range-Doppler filtering
Solution Approach 1:
The patent performs preliminary action by pre-calculating and storing the expected range-Doppler appearance pattern of the ground surface before actual motion estimation. This pre-computed filter template is then applied to the received radar signals, simplifying the real-time processing complexity while maintaining high measurement precision through the use of prepared filtering characteristics.
3Reliability
If range-Doppler filtering is applied to radar backscatter, then reliability of motion estimation improves, but processing time increases
Solution Approach 1:
The patent extracts only the relevant ground surface signal components using the expected range-Doppler appearance as a filter template. By focusing processing only on the specific range-Doppler regions where ground surface backscatter is expected to appear, the system achieves high reliability while minimizing unnecessary processing of irrelevant signal components, thus reducing overall processing time.
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
Improves the reliability and accuracy of vehicle motion estimation and control by filtering out irrelevant data, leading to more efficient and safe vehicle motion management.
Implementation Method 1
configuring at least one radar transceiver to emit a respective radar signal towards a ground surface supporting the vehicle and receiving radar backscatter from the ground surface
Implementation Method 2
the radar backscatter is indicative of a radial velocity of the ground surface relative to the radar transceiver in dependence of a range from the radar transceiver to the ground surface
Data Source
Figure 1~2A
Figure 2B~4
Figure 5A~5B
AI summary
A computer-implemented method for determining a motion parameter of a vehicle (100, 900), the method comprising configuring (S 1) at least one radar transceiver (180, 910) to emit a respective radar signal (185) towards a ground surface (101, 920) supporting the vehicle (100, 900), receiving (S2) radar backscatter from the ground surface (101, 920), where the radar backscatter is indicative of a radial velocity of the ground surface relative to the radar transceiver (180, 910) in dependence of a range from the radar transceiver (180, 910) to the ground surface (101, 920), determining (S3) an expected range-Doppler appearance (400, 600, 700, 800) of the radar backscatter from the ground surface (101, 920), based at least in part on an expected motion of the vehicle (100, 900) relative to the ground surface (101, 920), obtaining (S4) a range-Doppler filter (410, 420) based on the expected range-Doppler appearance (400, 600, 700, 800) of the radar backscatter, processing (SS) the received radar backscatter by the range-Doppler filter (410, 420), and determining (S6) the motion parameter of the vehicle (100, 900) based on the processed radar backscatter.