US 11,719,810 B2
Automotive synthetic aperture radar with radon transform
Oren Longman, Tel Aviv (IL); and Igal Bilik, Rehovot (IL)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Mar. 22, 2021, as Appl. No. 17/208,065.
Prior Publication US 2022/0299632 A1, Sep. 22, 2022
Int. Cl. G01S 13/90 (2006.01); G06T 11/00 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/904 (2019.05) [G01S 13/9029 (2013.01); G01S 13/9094 (2013.01); G01S 13/931 (2013.01); G06T 11/006 (2013.01); G01S 2013/932 (2020.01); G06T 2207/10044 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for using Synthetic Aperture Radar (SAR) to perform a maneuver in a land vehicle, the method comprising:
receiving digitized radar return data from a pulsed radar transmission from a Synthetic Aperture Radar (SAR) onboard a land vehicle;
accumulating a plurality of frames of the digitized radar return data;
applying a RADON transform to the accumulated plurality of frames of the digitized radar return data and odometry data from the land vehicle to generate transformed frames of data for each three-dimensional point, wherein the RADON transform is configured to perform coherent integration for each three-dimensional point for which a radar return exists from the pulsed radar transmission, project a radar trajectory onto each three-dimensional point, and project Doppler information onto each three-dimensional point;
generating a two-dimensional X-Y map of an area covered by the pulsed radar transmission from the SAR based on the transformed frames of data for each three-dimensional point; and
performing an autonomous or semiautonomous maneuver with the land vehicle by applying the generated two-dimensional X-Y map.