US 12,326,497 B2
Circuitry and method
Timo Grebner, Stuttgart (DE); and Christian Waldschmidt, Stuttgart (DE)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Filed by Sony Group Corporation, Tokyo (JP)
Filed on Aug. 5, 2022, as Appl. No. 17/881,601.
Claims priority of application No. 21210270 (EP), filed on Nov. 24, 2021.
Prior Publication US 2023/0161026 A1, May 25, 2023
Int. Cl. G01S 13/58 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/58 (2013.01) [G01S 13/931 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A circuitry for radar detection data disambiguation for a mobile platform, the circuitry being configured to:
obtain radar detection data from a radar sensor mounted on the mobile platform, wherein the radar detection data indicate, for each of a plurality of targets, a radial velocity and an angle of arrival;
estimate, based on the radar detection data, an ego-motion of the mobile platform;
determine an unambiguous radial velocity value of a target of the plurality of targets based on the ego-motion and the radar detection data, wherein the circuitry for determining the unambiguous radial velocity value is further configured to
generate a plurality of sloping lines in a coordinate system having radial velocity on one axis and cosine of angle of arrival on another axis, wherein the sloping lines have an equidistant vertical spacing corresponding to a velocity detection range of the radar sensor,
select one of the plurality of sloping lines that most complies with the estimated ego-motion, and
determine the unambiguous radial velocity value based on the selected sloping line; and
control operation of the mobile platform based on the determined unambiguous radial velocity value, wherein controlling operation includes one or more of adjusting a driving force of the mobile platform, adjusting a steering angle of the mobile platform, and adjusting a braking force of the mobile platform.