公开(公告)号：EP4036601A1

公开(公告)日：2022-08-03

申请号：EP21154384.8

申请日：2021-01-29

Applicant: Aptiv Technologies Limited

Inventor： Leßmann, Stephanie ,  Doerr, Wolfgang

IPC: G01S13/60 ,  G01S7/35 ,  G01S7/288 ,  G01S7/41 ,  G01S13/34 ,  G01S13/44 ,  G01S13/58 ,  G01S13/87 ,  G01S13/931

Abstract: A method of processing radar data obtained by a radar sensor mounted on a vehicle to generate a set of motion spectrum data for estimating ego-motion information of the vehicle, comprising: processing (S20) data samples of each of a plurality of radar return signals received at each antenna element of the radar sensor to generate, for each antenna element, respective Doppler-processed data comprising a plurality of data values, each calculated for a respective Doppler bin index; and generating (S30) a set of motion spectrum data, which comprises a plurality of data elements each calculated for a respective Doppler bin index and a respective spatial bin index, by performing, for each Doppler bin index, processes of: selecting data values of the Doppler-processed data calculated for the Doppler bin index; calculating a covariance matrix using the selected data values; and applying a spectral estimation algorithm which uses the covariance matrix to determine, for the Doppler bin index, a spatial spectrum value for each spatial bin index.

公开(公告)号：EP4036602A1

公开(公告)日：2022-08-03

申请号：EP21154386.3

申请日：2021-01-29

Applicant: Aptiv Technologies Limited

Inventor： Leßmann, Stephanie ,  Iurgel, Uri ,  Doerr, Wolfgang

IPC: G01S13/60 ,  G01S7/35 ,  G01S7/288 ,  G01S7/41 ,  G01S13/34 ,  G01S13/44 ,  G01S13/58 ,  G01S13/87 ,  G01S13/931

Abstract: A method of determining ego-motion information of a vehicle comprising a radar sensor having a plurality of antenna elements, comprising: acquiring (S410) motion spectrum comprising a plurality of data elements, each calculated for a respective one of a plurality of Doppler bin indices and for a respective one of a plurality of spatial bin indices, each spatial bin index indicating a respective angle-of-arrival of a radar return signal at the radar sensor; and determining (S420) the ego-motion information by solving a motion equation system comprising equations of motion generated using the motion spectrum data and each relating a respective value indicating a radial velocity, a respective value indicating an angular displacement, and a variable indicating a velocity of the vehicle.