US 12,291,229 B2
Method for detecting objects in automotive-grade radar signals
Johannes Traa, Medford, MA (US); Andrew Schweitzer, Cambridge, MA (US); and Atulya Yellepeddi, Medford, MA (US)
Assigned to Symeo GmbH, Neubiberg (DE)
Filed by Symeo GmbH, Neubiberg (DE)
Filed on Jan. 28, 2022, as Appl. No. 17/587,899.
Claims priority of provisional application 63/143,154, filed on Jan. 29, 2021.
Prior Publication US 2022/0242443 A1, Aug. 4, 2022
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 2420/408 (2024.01); B60W 2554/4041 (2020.02); B60W 2554/4048 (2020.02); B60W 2554/4049 (2020.02)] 18 Claims
OG exemplary drawing
 
12. A system, comprising:
a synthesizer circuit coupled to a transmitter configured to emit radar signals towards objects in a field of view;
a receiver configured to collect radar signals reflected from the objects in the field of view;
an analog-to-digital converter (ADC) circuit coupled to the receiver and configured to form a digital representation of the collected radar signals; and
a processor circuit coupled with a memory circuit, the memory circuit comprising instructions that, when executed by the processor circuit, cause the system to:
form range-angle-doppler bins representing three-dimensional objects in the field of view using the digital representation of the collected radar signals;
approximate a three-dimensional median filtering operation by:
(1) applying a one-dimensional moving median filter across a doppler dimension of the range-angle-doppler bins to suppress background noise in the range-angle-doppler bins in a first dimension;
(2) applying a mask to suppress doppler values from the one-dimensional moving median filter corresponding to low energy peak regions to form a sparse range-angle two dimensional grid; and
(3) applying a two-dimensional moving median filter to a remaining two dimensions of the range-angle-doppler bins comprising range and angle dimensions in the sparse range-angle two-dimensional grid.