US 12,461,224 B2
Velocity disambiguation for radar sensor system
Jessica Bartholdy Sanson, Munich (DE); Andreas Barthelme, Munich (DE); Andre Giere, Oberpframmern (DE); and Johanna Gütlein-Holzer, Munich (DE)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Jul. 30, 2022, as Appl. No. 17/877,942.
Claims priority of application No. 22187567 (EP), filed on Jul. 28, 2022.
Prior Publication US 2024/0036187 A1, Feb. 1, 2024
Int. Cl. G01S 13/58 (2006.01); G01S 7/35 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/584 (2013.01) [G01S 7/356 (2021.05); G01S 13/931 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A radar sensor system, comprising:
a transmit antenna configured to transmit a radar signal into an environment of the radar sensor system, the radar signal comprises a sequence of ramps, each of the ramps having a bandwidth and a period;
a receive antenna configured to receive a return signal from the environment of the radar sensor system responsive to the radar signal; and
radar processing circuitry that is configured to perform acts comprising:
receiving radar data indicative of the return signal received at the receive antenna;
computing first range estimate data based on the radar data, the first range estimate data being computed based on samples from a period of a ramp for each of the ramps;
computing first velocity estimate data based on the radar data, the first velocity estimate data being computed based on samples from a range bin across the ramps in the sequence for each range bin;
dividing, for each of the ramps in the sequence, the samples from the period of the ramp into a plurality of groups of the samples respectively from periods of subramps, wherein each subramp has a portion of the bandwidth of the ramp and a portion of the period of the ramp;
evaluating, by applying a non-uniform discrete Fourier transform (DFT), the plurality of groups to determine phase changes between consecutive subramps within each ramp, the non-uniform DFT accounting for frequency shifts between the consecutive subramps;
disambiguating the first velocity estimate data to generate second velocity estimate data based on the phase changes determined between consecutive subramps within each ramp; and
outputting the first range estimate data and the second velocity estimate data.