US 12,332,374 B2
Distribution fitting constant false alarm rate (CFAR) detection
Xining Yu, Carmel, IN (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on May 25, 2022, as Appl. No. 17/664,943.
Claims priority of provisional application 63/363,230, filed on Apr. 19, 2022.
Prior Publication US 2023/0333207 A1, Oct. 19, 2023
Int. Cl. G01S 7/292 (2006.01); G01S 7/41 (2006.01)
CPC G01S 7/2927 (2013.01) [G01S 7/2922 (2013.01); G01S 7/414 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a first processor configured to:
obtain multiple samples of radar returns including noise reflecting from an environment outside a vehicle;
maintain an array of the samples including each of the samples in a different, corresponding cell of the array;
for each of the samples, determine a respective constant false alarm rate (CFAR) threshold for filtering the noise from the corresponding cell of the array by:
determining a group of neighbor cells to the corresponding cell to use as training cells;
generating a histogram that organizes the samples of the training cells into columns representing successive ranges of amplitude for the samples of the training cells;
fitting the histogram to a noise distribution function; and
determining the respective CFAR threshold for the corresponding cell from the noise distribution function that is fitted to the histogram for that corresponding cell; and
filter the samples from the array that do not satisfy the respective CFAR threshold for the corresponding cell; and
responsive to filtering the samples from the array, output the array for use by a vehicle function in detecting objects that appear in the environment; and
a second one or more processors configured to control driving of the vehicle based on avoiding an object detected based on the output array.