| CPC G01S 13/426 (2013.01) [G01S 13/584 (2013.01); G01S 13/89 (2013.01)] | 24 Claims |
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1. A Doppler radar system comprising:
one or more antennas configured to transmit and receive radar wave signals for scanning for objects within a detection space covering at least a part of a full circular detection coverage range; and processing circuitry configured to provide scan data based on transmitted and received radar signals, and to generate a pre-processed data array based on obtained scan data; wherein the processing circuitry -is configured to:
provide scan data representing range cells within image lines of radar images covering at least a part of a full circular coverage range, wherein an image line represents a single azimuth orientation and one or more beam lines with an orientation in elevation, each image line representing one or more beam lines each holding a number of range cells, and wherein a detected object is represented by a number of hit range cells in one or more beam lines within one or more image lines, which hit range cells hold intensity data corresponding to the energy of returned radar wave signal(s); wherein the processing circuitry is further configured to:
select a hit range cell or a number of neighboring hit range cells within at least a first beam line within a first image line of a first radar image; and
generate two-dimensional range-Doppler matrices for a plurality of neighboring beam lines within one or more image lines within the first radar image, which neighboring beam lines include the first beam line, wherein a generated range-Doppler matrix holds matrix cells or bins having matrix positions given by a first dimension representing range cell columns and a second dimension representing radial velocity rows, whereby each matrix cell/bin holds an intensity value corresponding to the energy of returned radar wave signals detected for a certain range cell and a certain radial velocity range given by the position of the matrix cell/bin within the range-Doppler matrix;
generate a first cropped range-Doppler matrix based at least partly on a first plurality of neighboring matrix cells selected from a first un-cropped range-Doppler matrix, which selected first plurality of neighboring matrix cells includes matrix cells representing at least one selected hit range cell within the first beam line within the first image line, wherein the positions of the matrix cells within the first cropped range-Doppler matrix correspond to the positions of the selected first plurality of matrix cells within the first un-cropped range-Doppler matrix;
generate a second cropped range-Doppler matrix based at least partly on a second plurality of neighboring matrix cells selected from a second un-cropped range-Doppler matrix representing a second beam line being a neighbor to a beam line having an un-cropped range-Doppler matrix for which a plurality of neighboring matrix cells are selected to serve as at least part basis for the first cropped range-Doppler matrix, wherein the positions of the matrix cells within the second cropped range-Doppler matrix correspond to the positions of the selected second plurality of matrix cells within the second un-cropped range-Doppler matrix, said positions of the second plurality of matrix cells corresponding to the positions of the selected matrix cells within the first cropped range-Doppler matrix;
generate a third cropped range-Doppler matrix based at least partly on a third plurality of neighboring matrix cells selected from a third un-cropped range-Doppler matrix representing a third beam line being a neighbor to a beam line having an un-cropped range-Doppler matrix for which a plurality of neighboring matrix cells are selected to serve as at least part basis for the first cropped range-Doppler matrix, wherein the positions of the matrix cells within the third cropped range-Doppler matrix correspond to the positions of the selected third plurality of matrix cells within the third un-cropped range-Doppler matrix, said positions of the third plurality of matrix cells corresponding to the positions of the selected matrix cells within the first cropped range-Doppler matrix; and
generate a three-dimensional data array based at least partly on the first, second and third cropped two-dimensional range-Doppler matrices, which three-dimensional data array thereby represents data of at least three layers of matrix cells.
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