Method of determining the de-aliased range rate of a target

1. A method of determining the de-aliased range rate of a target in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target, said method comprising:

a) emitting a radar signal at a single time-point instance and determining from a plurality (m) of point radar detections measurements therefrom captured from said radar sensor unit, the values for each point detection of, azimuth and range rate [θ i , {dot over (r)} i ];

b) for each point detection determining a range rate compensated value ({dot over (r)} i,cmp ) from the output of step a) and the vehicle or sensor unit speed from the following equation {dot over (r)} icmp ={dot over (r)} i +u s cos θ i +v s sin θ i , where u s is the host vehicle or sensor longitudinal velocity and v s is the host vehicle or sensor lateral velocity;

c) determining a plurality (j) of velocity profile hypotheses;

d) for each (j-th) hypothesis determining modified compensated hypothesis range rates) ({dot over (r)} i,cmp ) in respect of each point detection on the target, based on the values of range rate compensated ({dot over (r)} i,cmp ) determined from step b) from the following equation {dot over (r)} i,j,cmp ={dot over (r)} i,cmp +j{dot over (r)} ua , where {dot over (r)} ua is the interval of measured range rate;

e) for each j-th hypothesis, determining values of the longitudinal and lateral components of the range rate equation of the target {tilde over (c)} t,j and +{tilde over (s)} t,j from the results of step d) and a) where the range rate equation is

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f) for each j-th hypothesis and for each point detection determining a velocity profile estimator range rate ({dot over ({circumflex over (r)})} i,j,cmp ) calculated from the following equation {dot over ({circumflex over (r)})} i,j,cmp ={tilde over (c)} t,j cos θ i +{tilde over (s)} t,j sin θ i , where the values of θ i are determined from step a) and {tilde over (c)} t,j and {tilde over (s)} t,j the values of velocity profile components from step e);

g) for each hypothesis, for one or more point detections, determining a measure of the dispersion of, or variation between the velocity profile estimator range rates ({dot over ({circumflex over (r)})} i,j,cmp ) for each velocity profile hypothesis from step f) and their respective modified range rates ({dot over (r)} i,j,cmp ) from step d), or the dispersion of, or variation between, one or both of the velocity profile components {tilde over (c)} t,j and {tilde over (s)} t,j for each velocity profile hypothesis, and selecting the velocity profile where said measure of dispersion or variation is the lowest; and

h) setting the de-aliased range rate as the velocity of the velocity hypothesis selected from step g).

2. A method as claimed in claim 1 wherein the radar system includes four radar sensor units, each of the radar sensor units being adapted to perform a method according to claim 1 .

3. A method as claimed in claim 1 , wherein velocity profile components {tilde over (c)} t,j and {tilde over (s)} t,j are determined from least squares methodology.

4. A method as claimed in claim 1 including determining for each velocity hypothesis, a measure of the dispersion or average value, in respect of each point detection, of the differences between the values of the velocity profile estimator range rates from step f) and the respective modified hypothesis range rates from step d).

5. A method as claimed in claim 1 , wherein said measure of the dispersion or variation is determined from the following formula, where n is the number of point detections used in the calculation

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