CPC G01S 13/931 (2013.01) [G01S 13/505 (2013.01); G01S 13/9005 (2013.01); G01S 13/9029 (2013.01); G01S 13/4418 (2013.01); G01S 2013/932 (2020.01); G01S 2013/9314 (2013.01); G01S 2013/9315 (2020.01)] | 24 Claims |
1. A vehicular sensing system, said vehicular sensing system comprising:
at least one radar sensor disposed at a vehicle equipped with said vehicular sensing system, said at least one radar sensor having a field of sensing exterior of the equipped vehicle;
wherein said at least one radar sensor comprises multiple transmitting antennas and multiple receiving antennas, and wherein said transmitting antennas transmit signals and said receiving antennas receive the signals reflected off objects;
an electronic control unit (ECU) comprising a processor, wherein multiple scans of radar data captured by said at least one radar sensor are received at said ECU and processed at said processor;
wherein a vehicle ego motion estimation of motion of the equipped vehicle is received at said ECU;
wherein said ECU, responsive to processing at the processor of the received multiple scans of captured radar data, detects presence of a plurality of objects exterior the equipped vehicle and within the field of sensing of said at least one radar sensor;
wherein said ECU, responsive at least in part to processing at the processor of the received multiple scans of captured radar data and the received vehicle ego motion estimation, generates a virtual antenna array with a virtual antenna aperture larger than a physical antenna aperture of the at least one radar sensor; and
wherein said ECU, using the generated virtual antenna array, tracks objects detected in the received multiple scans over two or more scans.
|