Granted Patent B2

US 12,442,891 · App. 17/243,518 · Granted Oct 14, 2025

Inventors: Dan Zhang (San Diego, CA); Kapil Gulati (Belle Mead, NJ); Junyi Li (Franklin Park, NJ)

G01S7/023G01S7/006G01S7/0232G01S7/0235G01S7/354G01S13/931G01S2013/9316

Abstract

Claims (75)

1. A method for wireless communications at a vehicle, comprising:

receiving, from a second vehicle, an indication of an offset value, the offset value between radar waveforms transmitted by a first radar transmitter and a second radar transmitter of a plurality of radar transmitters of the vehicle, wherein the offset value is based at least in part on a range value associated with a range of interest, and wherein the offset value comprises a time offset;

determining a configuration for transmitting a radar waveform by the plurality of radar transmitters of the vehicle, the configuration indicating a frequency range associated with the radar waveform and indicating to sweep the radar waveform over the frequency range over time;

transmitting, by the first radar transmitter, a first instance of the radar waveform in accordance with the configuration;

transmitting, by the second radar transmitter, a second instance of the radar waveform that is offset from the first instance of the radar waveform by the offset value in accordance with the configuration, wherein the second instance of the radar waveform at least partially overlaps with the first instance of the radar waveform in time in accordance with the time offset;

identifying interference between the first instance of the radar waveform and the second instance of the radar waveform associated with a ghost object located beyond an upper distance value of the range of interest;

applying a filter to the interference based at least in part on the offset value; and

identifying at least one object based at least in part on applying the filter and transmitting the first instance of the radar waveform and the second instance of the radar waveform.

2. The method of claim 1 , further comprising:

identifying the range value associated with the range of interest based at least in part on a filtering bandwidth value, wherein the range value indicates a distance from the vehicle; and

determining, based at least in part on the range value, the offset value.

3. The method of claim 2 , wherein the range value comprises a maximum range value.

4. The method of claim 1 , wherein the time offset is based at least in part on an integer and a time delay value.

5. The method of claim 1 , wherein the offset value comprises a frequency offset.

6. The method of claim 1 , wherein the offset value comprises a combination of a time offset and a frequency offset.

7. The method of claim 1 , wherein the configuration indicates a second offset value for the radar waveform between a third radar transmitter of the plurality of radar transmitters and a fourth radar transmitter of the plurality of radar transmitters, the method further comprising:

determining that the third radar transmitter, the fourth radar transmitter, or both, do not interfere with the first radar transmitter and the second radar transmitter;

transmitting, by the third radar transmitter, a third instance of the radar waveform; and

transmitting, by the fourth radar transmitter, a fourth instance of the radar waveform that is offset from the third instance of the radar waveform by the second offset value.

8. The method of claim 1 , wherein the configuration indicates one or more of a set of radar waveform chirps, a radar waveform carrier frequency range, a radar waveform frequency sweeping direction, a radar waveform frequency sweeping rate, or any combination thereof.

9. The method of claim 1 , further comprising:

identifying a range to the at least one object, a speed of the at least one object, a direction of the at least one object, or a combination thereof, based at least in part on transmitting the first instance of the radar waveform, or the second instance of the radar waveform, or both.

10. The method of claim 1 , wherein the radar waveform comprises a frequency modulated continuous wave.

11. The method of claim 10 , wherein the frequency modulated continuous wave comprises a triangle wave that rises from a first frequency to a second frequency over a first time duration and falls from the second frequency to the first frequency over a second time duration.

12. An apparatus for wireless communications at a vehicle, comprising:

one or more memories storing processor-executable code; and

one or more processors coupled with the one or more memories and operable to execute the code to cause the apparatus to:

receive, from a second vehicle, an indication of an offset value, the offset value between radar waveforms transmitted by a first radar transmitter and a second radar transmitter of a plurality of radar transmitters of the vehicle, wherein the offset value is based at least in part on a range value associated with a range of interest, and wherein the offset value comprises a time offset;

determine a configuration for transmitting a radar waveform by the plurality of radar transmitters of the vehicle, the configuration indicating a frequency range associated with the radar waveform and indicating to sweep the radar waveform over the frequency range over time;

transmit, by the first radar transmitter, a first instance of the radar waveform in accordance with the configuration;

transmit, by the second radar transmitter, a second instance of the radar waveform that is offset from the first instance of the radar waveform by the offset value in accordance with the configuration, wherein the second instance of the radar waveform at least partially overlaps with the first instance of the radar waveform in time in accordance with the time offset;

identify interference between the first instance of the radar waveform and the second instance of the radar waveform associated with a ghost object located beyond an upper distance value of the range of interest;

apply a filter to the interference based at least in part on the offset value; and

identify at least one object based at least in part on application of the filter and transmission of the first instance of the radar waveform and the second instance of the radar waveform.

13. The apparatus of claim 12 , wherein the one or more processors are operable to cause the apparatus to:

identify the range value associated with the range of interest based at least in part on a filtering bandwidth value, wherein the range value indicates a distance from the vehicle; and

determine, based at least in part on the range value, the offset value.

14. The apparatus of claim 13 , wherein the range value comprises a maximum range value.

15. The apparatus of claim 12 , wherein the time offset is based at least in part on an integer and a time delay value.

16. The apparatus of claim 12 , wherein the offset value comprises a frequency offset.

17. The apparatus of claim 12 , wherein the offset value comprises a combination of a time offset and a frequency offset.

18. The apparatus of claim 12 , wherein the configuration indicates a second offset value for the radar waveform between a third radar transmitter of the plurality of radar transmitters and a fourth radar transmitter of the plurality of radar transmitters, and the one or more processors are operable to cause the apparatus to:

determine that the third radar transmitter, the fourth radar transmitter, or both, do not interfere with the first radar transmitter and the second radar transmitter;

transmit, by the third radar transmitter, a third instance of the radar waveform; and

transmit, by the fourth radar transmitter, a fourth instance of the radar waveform that is offset from the third instance of the radar waveform by the second offset value.

19. The apparatus of claim 12 , wherein the configuration indicates one or more of a set of radar waveform chirps, a radar waveform carrier frequency range, a radar waveform frequency sweeping direction, a radar waveform frequency sweeping rate, or any combination thereof.

20. The apparatus of claim 12 , wherein the one or more processors are operable to cause the apparatus to:

identify a range to the at least one object, a speed of the at least one object, a direction of the at least one object, or a combination thereof, based at least in part on transmitting the first instance of the radar waveform, or the second instance of the radar waveform, or both.

21. The apparatus of claim 12 , wherein the radar waveform comprises a frequency modulated continuous wave.

22. The apparatus of claim 21 , wherein the frequency modulated continuous wave comprises a triangle wave that rises from a first frequency to a second frequency over a first time duration and falls from the second frequency to the first frequency over a second time duration.

23. An apparatus for wireless communications at a vehicle, comprising:

means for receiving, from a second vehicle, an indication of an offset value, the offset value between radar waveforms transmitted by a first radar transmitter and a second radar transmitter of a plurality of radar transmitters of the vehicle, wherein the offset value is based at least in part on a range value associated with a range of interest, and wherein the offset value comprises a time offset;

means for determining a configuration for transmitting a radar waveform by the plurality of radar transmitters of the vehicle, the configuration indicating a frequency range associated with the radar waveform and indicating to sweep the radar waveform over the frequency range over time;

means for transmitting, by the first radar transmitter, a first instance of the radar waveform in accordance with the configuration;

means for transmitting, by the second radar transmitter, a second instance of the radar waveform that is offset from the first instance of the radar waveform by the offset value in accordance with the configuration, wherein the second instance of the radar waveform at least partially overlaps with the first instance of the radar waveform in time in accordance with the time offset;

means for identifying interference between the first instance of the radar waveform and the second instance of the radar waveform associated with a ghost object located beyond an upper distance value of the range of interest;

means for applying a filter to the interference based at least in part on the offset value; and

means for identifying at least one object based at least in part on application of the filter and transmission of the first instance of the radar waveform and the second instance of the radar waveform.

24. The apparatus of claim 23 , further comprising:

means for identifying the range value associated with the range of interest based at least in part on a filtering bandwidth value, wherein the range value indicates a distance from the vehicle; and

means for determining, based at least in part on the range value, the offset value.

25. The apparatus of claim 23 , wherein the configuration indicates a second offset value for the radar waveform between a third radar transmitter of the plurality of radar transmitters and a fourth radar transmitter of the plurality of radar transmitters, the apparatus further comprising:

means for determining that the third radar transmitter, the fourth radar transmitter, or both, do not interfere with the first radar transmitter and the second radar transmitter;

means for transmitting, by the third radar transmitter, a third instance of the radar waveform; and

means for transmitting, by the fourth radar transmitter, a fourth instance of the radar waveform that is offset from the third instance of the radar waveform by the second offset value.

26. The apparatus of claim 23 , further comprising:

means for identifying a range to the at least one object, a speed of the at least one object, a direction of the at least one object, or a combination thereof, based at least in part on transmitting the first instance of the radar waveform, or the second instance of the radar waveform, or both.

27. A non-transitory computer-readable medium storing code for wireless communications at a vehicle, the code comprising instructions executable by one or more processors to:

receive, from a second vehicle, an indication of an offset value, the offset value between radar waveforms transmitted by a first radar transmitter and a second radar transmitter of a plurality of radar transmitters of the vehicle, wherein the offset value is based at least in part on a range value associated with a range of interest, and wherein the offset value comprises a time offset;

determine a configuration for transmitting a radar waveform by the plurality of radar transmitters of the vehicle, the configuration indicating a frequency range associated with the radar waveform and indicating to sweep the radar waveform over the frequency range over time;

transmit, by the first radar transmitter, a first instance of the radar waveform in accordance with the configuration;

transmit, by the second radar transmitter, a second instance of the radar waveform that is offset from the first instance of the radar waveform by the offset value in accordance with the configuration, wherein the second instance of the radar waveform at least partially overlaps with the first instance of the radar waveform in time in accordance with the time offset;

identify interference between the first instance of the radar waveform and the second instance of the radar waveform associated with a ghost object located beyond an upper distance value of the range of interest;

apply a filter to the interference based at least in part on the offset value; and

identify at least one object based at least in part on application of the filter and transmission of the first instance of the radar waveform and the second instance of the radar waveform.

Assignments (1)

Continuity (1)

References Cited (43)