US 12,248,053 B2
Radar data processing for vehicle ego-motion estimation
Stephanie Lessmann, Erkrath (DE); and Wolfgang Doerr, Wiehl (DE)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Jan. 28, 2022, as Appl. No. 17/588,081.
Claims priority of application No. 21154384 (EP), filed on Jan. 29, 2021.
Prior Publication US 2022/0244373 A1, Aug. 4, 2022
Int. Cl. G01S 13/58 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/584 (2013.01) [G01S 13/931 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
processing radar data obtained by a radar sensor having a plurality of antenna elements and being mounted on a vehicle for generating a set of motion spectrum data for estimating ego-motion information of the vehicle, the processing comprising:
receiving the radar data as a respective plurality of data samples for each of a plurality of radar return signals received at each of the antenna elements;
processing the data samples to generate, for each of the antenna elements, respective Doppler-processed data including at least one of:
a plurality of data values each calculated for a respective range bin index of a plurality of range bin indices and for a respective Doppler bin index of a plurality of Doppler bin indices; or
a plurality of data values each calculated for a respective fast-time index of a plurality of fast-time indices and for a respective Doppler bin index of a plurality of Doppler bin indices;
generating a set of motion spectrum data comprising a plurality of data elements each calculated for a respective Doppler bin index of the plurality of Doppler bin indices and for a respective spatial bin index of a plurality of spatial bin indices each indicative of a respective angle of arrival of a radar return signal relative to an axis of the radar sensor; and
determining the ego-motion information of the vehicle based on the set of motion spectrum data;
wherein:
the generating includes performing, for each Doppler bin index of the plurality of Doppler bin indices, each of:
selecting data values of the Doppler-processed data that have been calculated for the Doppler bin index;
calculating a covariance matrix using the data values selected for the Doppler bin index; and
applying a spectral estimation algorithm which uses the covariance matrix to determine, for the Doppler bin index, a respective spatial spectrum value for each of the plurality of spatial bin indices; and
the ego-motion information of the vehicle is used by at least one of an Advance Driving Assistant System (ADAS) of the vehicle or an autonomous driving application of the vehicle to control the vehicle.