Granted Patent B2

US 12,493,113 · App. 16/843,129 · Granted Dec 9, 2025

Inventor: Sungdo Choi (Suwon-si, KR)

Assignee: Samsung Electronics Co., Ltd.

G01S13/426G01S7/10G01S13/584G01S13/931G01S2013/9318G01S2013/9319G05D1/0223G05D1/0257

Abstract

Claims (68)

1 . A radar data processing method comprising:

generating a radar image map by combining radar scan images;

predicting a region of interest (ROI) of a current frame based on previous frame information, where the ROI corresponds to a distance and an angle in which an object is predicted to be present based on the generated radar image map;

adjusting steering information based on the predicted ROI, the steering information comprising a plurality of candidate steering vectors;

sensing radar data with a radar sensor; and

determining direction-of-arrival (DoA) information corresponding to the sensed radar data based on the adjusted steering information, the DoA information being a direction in which a radar signal reflected from a target point is received, and

calculating Doppler velocity information based on the DoA information; and

adjusting a local resolving power of the Doppler velocity information based on the predicted ROI,

wherein each of the candidate steering vectors includes phase information of a radar data received at a predetermined angle.

2 . The radar data processing method of claim 1 , wherein the adjusting of the steering information comprises:

allocating a preset number of the candidate steering vectors included in the steering information to each of one or more target ranges based on the ROI.

3 . The radar data processing method of claim 2 , wherein the allocating of the preset number of candidate steering vectors to each of the one or more target ranges based on the ROI comprises:

arranging the candidate steering vectors in the ROI intensively by adjusting a distribution of the candidate steering vectors for each of the one or more target ranges in the steering information.

4 . The radar data processing method of claim 2 , wherein the allocating of the preset number of candidate steering vectors to each of the one or more target ranges based on the ROI comprises:

increasing a number of the candidate steering vectors associated with the ROI in the steering information; and

decreasing a number of candidate steering vectors associated with a remaining region excluding the ROI in the steering information.

5 . The radar data processing method of claim 1 , wherein the adjusting of the steering information comprises:

selecting a plurality of target ranges to be subject to calculation of the DoA information within a maximum sensing range of the radar sensor based on the ROI; and

allocating a preset number of candidate steering vectors to each of the selected target ranges in the steering information based on the ROI.

6 . The radar data processing method of claim 5 , wherein the selecting of the plurality of target ranges based on the ROI comprises:

arranging candidate steering vectors in the ROI intensively by adjusting a distribution of the plurality of target ranges.

7 . The radar data processing method of claim 5 , wherein the selecting of the plurality of target ranges based on the ROI comprises:

increasing a number of target ranges to be subject to the calculation of the DoA information for an area corresponding to the ROI in the steering information; and

decreasing a number of target ranges to be subject to the calculation of the DoA information for an area corresponding to a remaining region excluding the ROI in the steering information.

8 . The radar data processing method of claim 1 , wherein the determining of the DoA information comprises:

retrieving, from the steering information, a target steering vector which matches the sensed radar data among candidate steering vectors for each of target ranges within a maximum sensing range of the radar sensor; and

determining a steering angle mapped to the retrieved target steering vector to be the DoA information corresponding to the radar data.

9 . The radar data processing method of claim 1 , wherein the adjusting of the steering information comprises: when a new potential object is detected in a range in which the object is not detected in a previous frame, allocating a candidate steering vector to the range in which the new potential object is detected with a basic angular resolving power in the steering information.

10 . The radar data processing method of claim 1 , wherein the determining of the DoA information further comprises:

skipping a determining of DoA information for a target range in which the object is not detected in a current frame among target ranges to be subject to calculation of the DoA information in the adjusted steering information.

11 . The radar data processing method of claim 1 , wherein the predicting of the ROI comprises:

calculating DoA information corresponding to a previous frame from radar data collected from the previous frame;

generating coordinate information of a nearby object corresponding to the previous frame based on the DoA information corresponding to the previous frame and ego-localization of a radar data processing device; and

predicting an ROI of a current frame based on a radar image map subsequent to the previous frame generated from the coordinate information corresponding to the previous frame.

12 . The radar data processing method of claim 1 , further comprising:

generating, as a radar image map of a current frame, a map that indicates at least one of an object occupancy probability and a radar signal reception intensity of nearby points around a radar data processing device from DoA information of the current frame.

13 . The radar data processing method of claim 12 , further comprising:

visualizing the radar image map through a display.

14 . The radar data processing method of claim 12 , further comprising:

changing, based on the radar image map, at least one of a speed, an acceleration, and a steering operation of a vehicle in which the radar data processing device is mounted.

15 . The radar data processing method of claim 1 , wherein the method further comprises performing a detection for the object in a radar image map of a previous frame, and

wherein the adjusting of the steering information comprises:

when the object is not detected in the radar image map of the previous frame, selecting target ranges from the steering information with a basic resolving power and arranging candidate steering vectors in the selected target ranges.

16 . The radar data processing method of claim 1 , wherein the radar sensor comprises a field of view (FOV) that includes a different direction from a longitudinal direction of a vehicle.

17 . A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors, cause the one or more processors to perform the radar data processing method of claim 1 .

18 . A radar data processing method comprising:

generating a radar image map by combining radar scan images;

predicting a region of interest (ROI) of a current frame based on previous frame information, where the ROI corresponds to a distance and an angle in which an object is predicted to be present based on the generated radar image map;

adjusting a local range resolving power of radar data based on the predicted ROI; and

detecting a range to a target point from which the radar data is reflected based on the adjusted local range resolving power.

19 . The radar data processing method of claim 18 , wherein the adjusting of the local range resolving power comprises:

decreasing a range resolving power for the ROI within a maximum sensing range of a radar sensor; and

increasing a range resolving power for a remaining region excluding the ROI.

20 . The radar data processing method of claim 19 , wherein the detecting of the range comprises:

when radar data is reflected from a first target point corresponding to the ROI, detecting a range to the first target point by a unit of the decreased range resolving power; and

when radar data is reflected from a second target point corresponding to the remaining region, detecting a range to the second target point by a unit of the increased range resolving power.

21 . The radar data processing method of claim 18 , wherein the adjusting of the local range resolving power comprises:

consistently maintaining an overall range resolving power in range detection.

22 . A radar data processing device comprising:

a radar sensor configured to sense radar data; and

a processor configured to:

generate a radar image map by combining radar scan images;

predict a region of interest (ROI) of a current frame based on previous frame information, where the ROI corresponds to a distance and an angle in which an object is predicted to be present based on the generated radar image map;

adjust steering information which identifies the sensed radar data based on the predicted ROI, the steering information comprising a plurality of candidate steering vectors, and

determine direction-or-arrival (DoA) information corresponding to the radar data based on the adjusted steering information, the DoA information being a direction in which a radar signal reflected from a target point is received, and

calculate Doppler velocity information based on the DoA information; and

adjust a local resolving power of the Doppler velocity information based on the predicted ROI,

wherein each of the candidate steering vectors includes phase information of a radar data received at a predetermined angle.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (22)