Method and apparatus for phase unwrapping radar detections using optical flow
View Patent ↗Radar systems are disclosed having phase measures limited to +/−π. An optical flow method considers the time derivative of the range with respect to phase (or velocity), and gives an indication of whether the phase is outside the measurable range by comparing the derivatives to forward and reverse wrap thresholds.
1. A method for determining a velocity of an object detected by a radar system, the method comprising:
capturing radar sensor data from a reflected signal;
determining a plurality of range measurements for detected objects based on frequency changes in the radar sensor data;
determining a plurality of velocity estimations for the detected objects based on phase changes in the radar sensor data; and
initiating an optical flow process to confirm the plurality of velocity estimations, the optical flow process comprising:
calculating changes in the plurality of range measurements as time derivatives;
comparing the time derivatives to threshold limits that comprise a forward wrap threshold and a reverse wrap threshold; and
correcting at least one velocity estimation of the plurality of velocity estimations when at least one of the time derivatives is outside a corresponding one of the threshold limits.
2. The method as in claim 1 , wherein one or more of the time derivatives that falls outside the threshold limits indicate phase-wrapped ambiguous velocity estimations.
3. The method as in claim 2 , wherein the radar system has a field of view, the method further comprising dividing the field of view into a plurality of pixels.
4. The method as in claim 3 , wherein calculating the changes in the plurality of range measurements as the time derivatives comprises comparing range measurements for each pixel in the field of view.
5. The method as in claim 1 , wherein the threshold limits identify unambiguous velocity estimations.
6. The method as in claim 5 , wherein correcting the at least one velocity estimation of the plurality of velocity estimations comprises unwrapping a corresponding phase of the time derivative.
7. The method as in claim 6 , further comprising:
comparing a phase of a received signal to a phase of a transmitted frequency-modulated carrier-wave (FMCW) signal;
determining a phase difference between the received signal and the transmitted FMCW signal; and
identifying a velocity corresponding to the phase difference.
8. The method as in claim 7 , wherein the transmitted FMCW signal has a sawtooth waveform.
9. The method as in claim 1 , wherein the radar system is located on a vehicle.
10. The method as in claim 9 , wherein the vehicle is an autonomous vehicle.
11. The method as in claim 1 , wherein the radar system is located on a structure and the structure is one of a building, a billboard, a road sign, or a traffic light.
12. The method as in claim 1 , wherein the forward warp threshold is +π or +2π, and the reverse warp threshold is −π or −2π.
13. A system for determining a velocity of an object detected by a radar system, the system comprising:
a radar capture module configured to capture radar sensor data from a reflected signal;
a range measurement module configured to determine a plurality of range measurements for detected objects based on frequency changes in the radar sensor data;
a velocity estimation unit configured to determine a plurality of velocity estimations for the detected objects based on phase changes in the radar sensor data; and
an optical flow module configured to confirm and correct the plurality of velocity estimations by comparing the plurality of velocity estimations with threshold limits, wherein the threshold limits comprise a forward wrap threshold and a reverse wrap threshold.
14. The system as in claim 13 , wherein the optical flow module comprises:
a range derivative module configured to calculate changes in the plurality of range measurements as time derivatives;
a threshold comparison module configured to compare the time derivatives to the threshold limits; and
a resolution module configured to correct a velocity estimation of the plurality of velocity estimations when at least one time derivative is outside the threshold limits, thereby correcting the velocity estimation.
15. A radar system, comprising:
a radar transceiver configured to prepare modulated transmit signals and to receive reflections of the modulated transmit signals;
a range Doppler map (RDM) processing unit coupled to the radar transceiver, the RDM processing unit adapted to capture received data and to generate RDM information over a field of view, and
an optical flow module adapted to calculate changes in received data over time to identify an ambiguous measurement and correct the ambiguous measurement by comparing the ambiguous measurement with threshold limits, wherein the threshold limits comprise a forward wrap threshold and a reverse wrap threshold.
16. The radar system as in claim 15 , wherein the optical flow module is configured to calculate changes in range measurement over time and compare the changes in range measurements to measurement capabilities of the radar system.
17. The radar system as in claim 15 , wherein the radar system is located on a vehicle.
18. The radar system as in claim 15 , wherein the radar system is located on a structure and the structure is one of a building, a billboard, a road sign, or a traffic light.
19. The radar system as in claim 15 , wherein the forward warp threshold is +π or +2π, and the reverse warp threshold is −π or −2π.
20. The system as in claim 13 , wherein the forward warp threshold is +π or +2π, and the reverse warp threshold is −π or −2π.