| CPC G01S 13/931 (2013.01) [G01S 13/42 (2013.01); G01S 13/56 (2013.01); G01S 13/60 (2013.01); G01S 13/66 (2013.01)] | 14 Claims |
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1. An object detection system, comprising:
a transmitter;
a receiver; and
a processing circuit connected to the transmitter and the receiver, wherein the processing circuit is configured to:
control the transmitter to transmit by a predetermined field pattern a plurality of detection signals in different time frames along a main beam direction, wherein the main beam direction corresponds to a main beam in the predetermined field pattern beamformed by the transmitter;
control the receiver to receive a plurality of reflection signals generated by reflections of the plurality of detection signals;
correspondingly calculate a plurality of received powers, a plurality of distances, and a plurality of velocities according to the plurality of reflection signals;
perform a clustering process on the plurality of distances and the plurality velocities to find the received powers, the distances, and the velocities corresponding to at least one main target;
perform an association process to track the distances and the received powers of the at least one main target in the different time frames; and
calculate a power trend and a distance trend of the at least one main target, and determine whether an early warning event is to occur according to a relationship between the power trend and the distance trend;
wherein, in response to the distance trend indicating that the at least one main target is approaching, and the power trend indicating that the received powers corresponding to the at least one main target are increasing, the processing circuit is configured to determine that the early warning event is to occur with the at least one main target,
wherein the plurality of reflection signals correspond to a plurality of sub-targets, and the clustering process includes:
for each of the time frames, clustering the plurality of sub-targets according to a similarity of the plurality of velocities and the plurality of distances, so as to find at least one cluster of the sub-targets corresponding to the at least one main target; and
for each of the time frames, averaging the received powers of the sub-targets corresponding to the at least one main target or obtaining a maximum one of the received powers of the sub-targets, so as to generate the received power of the at least one main target;
wherein the association process includes:
comparing the clustered sub-targets in the different time frames;
pairing the at least one cluster clustered in a first time frame and the at least one cluster clustered in a second time frame according to the plurality of velocities and the plurality of distances;
tracking the sub-targets corresponding to the at least one main target in each of the first time frame and the second time frame;
for the plurality of sub-objects, obtaining a first associated distance value and a first associated velocity value of the at least one cluster in the first time frame;
estimating, based on the first associated distance value and the first associated velocity value of the at least one cluster obtained in the first time frame, a predicted distance of the at least one cluster in the second time frame by a correlation relationship;
for the plurality of sub-targets, obtaining a second associated distance value and a second associated velocity value of the at least one cluster in the second time frame; and
determining whether the predicted distance and the first associated velocity value match with the second associated distance value and the second associated velocity value, wherein, in response to the predicted distance and the first associated velocity value matching with the second associated distance value and the second associated velocity value, the processing circuit is configured to update an information of the at least one cluster that is determined to be matched to the second associated distance value and the second associated velocity value.
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