Radar receiver
A radar receiver comprising: an ADC ( 510 ) that samples analogue intermediate frequency, IF, signalling in order to generate digital signalling, wherein the digital signalling comprises a plurality of digital-values; a digital processor that populates a 2-dimensional array of bin-values based on the digital-values, such that: a first axis of the 2-dimensional array is a fast time axis and a second axis of the 2-dimensional array is a slow time axis; and a sampling-rate-adjuster that is configured to set a sampling rate associated with the bin-values in the 2-dimensional array based on an index of the slow time axis. The digital processor also performs DFT calculations on the bin-values in the 2-dimensional array along the fast time axis and the slow time axis in order to determine the range and velocity of any detected objects.
1 . A radar receiver comprising:
an analogue to digital converter, ADC, that is configured to sample analogue intermediate frequency, IF, signalling according to a sampling rate in order to generate digital signalling, wherein the digital signalling comprises a plurality of digital-values;
a digital processor that is configured to populate a 2-dimensional array of bin-values based on the digital-values, such that: a first axis of the 2-dimensional array is a fast time axis and a second axis of the 2-dimensional array is a slow time axis;
a sampling-rate-adjuster that is configured to set an effective sampling rate associated with the bin-values in the 2-dimensional array based on an index of the slow time axis; and
wherein the digital processor is further configured to perform discrete Fourier transform, DFT, calculations on the bin-values in the 2-dimensional array along the fast time axis and the slow time axis in order to determine a range and velocity of any detected objects, the DFT calculations based on the effective sampling rate.
2 . The radar receiver of claim 1 , wherein the sampling-rate-adjuster is configured to set the effective sampling rate associated with the bin-values in the 2-dimensional array based on: (i) the index of the slow time axis; and (ii) a targeted range/velocity ratio.
3 . The radar receiver of claim 1 , wherein:
the digital processor is configured to populate the 2-dimensional array of bin-values based on the digital-values, such that each index of the slow time axis represents a different radar chirp in the IF signalling; and
the sampling-rate-adjuster is configured to set a frequency-shift for each chirp based on its associated index on the slow time axis.
4 . The radar receiver of claim 1 , wherein:
the sampling-rate-adjuster comprises a clock unit, which provides a clock-signal to the ADC for setting the effective sampling rate of the ADC based on a frequency of the clock-signal;
the digital processor is configured to adjust the frequency of the clock-signal based on the index of the slow time axis; and
the digital processor is configured to populate the 2-dimensional array of bin-values with the digital-values.
5 . The radar receiver of claim 1 , wherein:
the sampling-rate-adjuster is configured to resample the digital-values to generate resampled-digital-values, such that the effective sampling rate associated with the resampled-digital-values is based on the index of the slow time axis; and
the digital processor is configured to populate the 2-dimensional array of bin-values with the resampled-digital-values.
6 . The radar receiver of claim 1 , wherein the sampling-rate-adjuster is configured to modify the DFT calculations based on the index of the slow time axis.
7 . The radar receiver of claim 1 , wherein the digital processor is further configured to:
apply an offset to one or both of the determined range and velocity in order to redefine an origin of a range-velocity plane.
8 . The radar receiver of claim 6 , wherein the sampling-rate-adjuster is configured to modify the DFT calculations by applying a mathematical operation to a component of the DFT calculations, wherein a magnitude of the mathematical operation is based on the index of the slow time axis.
9 . The radar receiver of claim 1 , wherein:
the sampling-rate-adjuster is configured to set the effective sampling rate associated with the bin-values in the 2-dimensional array based on an index of the slow time axis.
10 . The radar receiver of claim 1 , wherein:
the sampling-rate-adjuster is configured to set the effective sampling rate associated with the bin-values in the 2-dimensional array such that the effective sampling rate for the maximum index of the slow time axis corresponds to a maximum range/maximum velocity of the radar receiver.
11 . The radar receiver claim 1 , wherein:
the sampling-rate-adjuster is also configured to set the effective sampling rate associated with the bin-values in the 2-dimensional array based on a speed of a vehicle to which the radar receiver is fitted.
12 . The radar receiver of claim 9 , wherein the sampling-rate-adjuster is configured to set the effective sampling rate associated with the bin-values in the 2-dimensional array based on the index of the slow time axis, by applying a linear function to the index of the slow time axis to set the effective sampling rate.
13 . The radar receiver of claim 9 , wherein the sampling-rate-adjuster is configured to set the effective sampling rate associated with the bin-values in the 2-dimensional array based on the index of the slow time axis, by applying a non-linear function to the index of the slow time axis to set the effective sampling rate.
14 . A radar system comprising:
a plurality of radar receivers, each radar receiver of the plurality of radar receivers including:
an analogue to digital converter, ADC, that is configured to sample analogue intermediate frequency, IF, signalling according to a sampling rate in order to generate digital signalling, wherein the digital signalling comprises a plurality of digital-values;
a digital processor that is configured to populate a 2-dimensional array of bin-values based on the digital-values, such that: a first axis of the 2-dimensional array is a fast time axis and a second axis of the 2-dimensional array is a slow time axis; and
a sampling-rate-adjuster that is configured to set an effective sampling rate associated with the bin-values in the 2-dimensional array based on an index of the slow time axis;
wherein the digital processor is further configured to perform discrete Fourier transform, DFT, calculations on the bin-values in the 2-dimensional array along the fast time axis and the slow time axis in order to determine the range and velocity of any detected objects, the DFT calculations based on the effective sampling rate; and
wherein the radar system includes a system processor configured to combine the velocity that is determined by each of the radar receivers to determine: a combined velocity value for a detected object, and optionally a direction to the detected object.
15 . A method of determining velocity of a detected object, the method comprising:
sampling analogue intermediate frequency, IF, signalling according to a sampling rate in order to generate digital signalling, wherein the digital signalling comprises a plurality of digital-values;
populating a 2-dimensional array of bin-values based on the digital-values, such that: a first axis of the 2-dimensional array is a fast time axis and a second axis of the 2-dimensional array is a slow time axis;
setting an effective sampling rate associated with the bin-values in the 2-dimensional array based on an index of the slow time axis; and
performing discrete Fourier transform, DFT, calculations on the bin-values in the 2-dimensional array along the fast time axis and the slow time axis in order to determine a range and velocity of any detected objects, the DFT calculations based on the effective sampling rate.
16 . The method of claim 15 , further comprising setting the effective sampling rate associated with the bin-values in the 2-dimensional array based on the index of the slow time axis and a targeted range/velocity ratio.
17 . The method of claim 15 , wherein the populating the 2-dimensional array of bin-values is based on the digital-values such that each index of the slow time axis represents a different radar chirp in the IF signalling.
18 . The method of claim 15 , further comprising generating resampled-digital-values, such that the effective sampling rate associated with the resampled-digital-values is based on the index of the slow time axis.
19 . The method of claim 15 , further comprising modifying the DFT calculations based on the index of the slow time axis.
20 . The method of claim 15 , further comprising applying an offset to one or both of the determined range and velocity in order to redefine an origin of a range-velocity plane.