Apparatus and method for tracking objects
An apparatus comprises processing circuitry is configured to receive at least one previous position of a previous target from a track data list; to determine whether a position of a target determined by a radar measurement is within a vicinity of the previous position; and replace the previous position with the position in the track data list in response to the position being within the vicinity of the previous position.
1 . An apparatus comprising:
processing circuitry configured to:
receive at least one previous position of a previous target from a track data list,
receive, in real time, a position of a target from a radar sensor,
determine, in real time, whether the position of the target received from the radar sensor is within a vicinity of the previous position, and
in response to the position of the target received from the radar sensor being within the vicinity of the previous position:
replace, in real time, the previous position with the position in the track data list with the position of the target received from the radar sensor, and
associate, in real time, the position of the target received from the radar sensor with a zone of a presence zone grid comprising a plurality of zones, wherein each zone of the plurality of zones represents a predetermined range interval and a predetermined angle interval; and
an output interface configured to output presence information indicating a presence within a field of view of the radar sensor, the presence information comprising a number of the plurality of zones comprising a target on the track data list.
2 . The apparatus according to claim 1 , wherein the processing circuitry is further configured to insert the position of the target received from the radar sensor into the track data list in response to the position of the target received from the radar sensor not being within the vicinity of the previous position.
3 . The apparatus according to claim 1 , wherein each of the previous positions of the previous target and the position of the target received from the radar sensor comprises at least one range information and at least one angle information.
4 . The apparatus according to claim 1 , wherein the processing circuitry is further configured to remove the position of the target received from the radar sensor from the track data list in response to the position of the target received from the radar sensor being outside an area of interest.
5 . The apparatus according to claim 1 , wherein the presence information further comprises at least one of a number of targets present, or a presence flag indicating the presence of at least one target.
6 . The apparatus according to claim 5 , wherein the processing circuitry is further configured to generate the presence flag in response to the track data list comprising at least one position.
7 . The apparatus of claim 1 , further comprising control circuitry configured to control an operation of a system based on the presence information.
8 . A system, comprising:
a processor; and
a memory coupled to the processor with instructions stored thereon, wherein the instructions, when executed by the processor enable the system to:
receive at least one previous position of a previous target from a track data list,
receive, in real time, a position of a target from a radar sensor,
determine, in real time, whether the position of the target received from the radar sensor is within a vicinity of the previous position, and
in response to the position of the target received from the radar sensor being within the vicinity of the previous position:
replace, in real time, the previous position with the position in the track data list with the position of the target received from the radar sensor, and
associate, in real time, the position of the target received from the radar sensor with a zone of a presence zone grid comprising a plurality of zones, wherein each zone of the plurality of zones represents a predetermined range interval and a predetermined angle interval; and
an output interface configured to output presence information indicating a presence within a field of view of the radar sensor, the presence information comprising a number of the plurality of zones comprising a target on the track data list.
9 . The system of claim 8 , further comprising the radar sensor.
10 . The system of claim 9 , wherein the instructions, when executed by the processor, further enable the system to identify a group of targets in a radar measurement received from the radar sensor, and to derive target information for every member of the group of targets.
11 . The system of claim 10 , wherein the instructions, when executed by the processor, further enable the system to identify whether the targets in the group of targets are moving.
12 . The system of claim 9 , wherein the instructions, when executed by the processor, further enable the system to remove unwanted signal components from a range-doppler representation of a radar measurement received from the radar sensor.
13 . The system of claim 8 , further comprising control circuitry configured to control an operation of the system based on the presence information.
14 . A method, comprising:
receiving, in real time, target information indicating a position of a target from a radar sensor;
receiving at least one previous position of a previous target from a track data list;
determining, in real time, that the position of the target received from the radar sensor is within a vicinity of the previous position;
in response to the position of the target received from the radar sensor being within the vicinity of the previous position:
replacing, in real time, the previous position with the position in the track data list with the position of the target received from the radar sensor, and
associating, in real time, the position of the target received from the radar sensor with a zone of a presence zone grid comprising a plurality of zones, wherein each zone of the plurality of zones represents a predetermined range interval and a predetermined angle interval; and
outputting, via an output interface, presence information indicating a presence within a field of view of the radar sensor, the presence information comprising a number of the plurality of zones comprising a target on the track data list.
15 . The method of claim 14 , further comprising inserting the position of the target received from the radar sensor into the track data list in response to the position of the target received from the radar sensor not being within the vicinity of the previous position.
16 . The method of claim 14 , wherein each of the previous positions of the previous target and the position of the target received from the radar sensor comprises at least one range information and at least one angle information.
17 . The method of claim 14 , further comprising removing the position of the target received from the radar sensor from the track data list in response to the position of the target received from the radar sensor being outside an area of interest.
18 . The method of claim 14 , wherein the presence information further comprises at least one of a number of targets present, or a presence flag indicating the presence of at least one target.
19 . The method of claim 18 , further comprising generating the presence flag in response to the track data list comprising at least one position.
20 . The method of claim 14 , further comprising controlling an operation of a system based on the presence information.