Radar vehicle tracking

Patent metadata

Field	Value
Publication number	US-9759811-B2
Application number	US-201414563669-A
Country	US
Kind code	B2
Filing date	Dec 8, 2014
Priority date	Dec 8, 2014
Publication date	Sep 12, 2017
Grant date	Sep 12, 2017

Abstract

Radar vehicle tracking is described. One or more embodiments include a device to receive a first determined distance between a first radar transceiver and a vehicle, the first distance determined by the first radar transceiver operating in a first mode, receive a second determined distance between a second radar transceiver and the vehicle, the second distance determined by the second radar transceiver operating in the first mode, receive a first determined distance ellipse between the first radar transceiver and the vehicle, the first distance ellipse determined by the first radar transceiver operating in a second mode, receive a second determined distance ellipse between the second radar transceiver and the vehicle, the second distance ellipse determined by the second radar transceiver operating in the second mode, and determine at least one location estimate of the vehicle based on the first and second determined distances and first and second determined distance ellipses.

First claim

What is claimed:

1. A device for radar vehicle tracking, comprising:
a memory; and
a processor configured to execute executable instructions stored on the memory to:
receive a first determined distance between a first radar transceiver and a vehicle, the first distance determined by the first radar transceiver operating in a first mode;
receive a second determined distance between a second radar transceiver and the vehicle, the second distance determined by the second radar transceiver operating in the first mode;
receive a first determined distance ellipse between the first radar transceiver and the vehicle, the first distance ellipse determined by the first radar transceiver operating in a second mode;
receive a second determined distance ellipse between the second radar transceiver and the vehicle, the second distance ellipse determined by the second radar transceiver operating in the second mode;
determine a first location estimate and a second location estimate based on the first determined distance and the second determined distance; and
determine a third location estimate and a fourth location estimate based on the first determined distance ellipse and the second determined distance ellipse.

2. The device of claim 1 , wherein the first mode is a monostatic mode.

3. The device of claim 1 , wherein the second mode is a multistatic mode.

4. The device of claim 1 , wherein the instructions are executable to discard one of the first and second location estimates if a correlation between the one of the first and second location estimates and one of the third and fourth location estimates does not exceed a particular threshold.

5. The device of claim 1 , wherein the instructions are executable to discard one of the third and fourth location estimates if a correlation between the one of the third and fourth location estimates and one of the first and second location estimates does not exceed a particular threshold.

6. The device of claim 1 , wherein operating in the second mode includes transmitting or receiving.

7. A method for radar vehicle tracking, comprising:
determining a first plurality of possible locations for each of a plurality of vehicles using a plurality of radar transceivers operating via a first mode;
determining a second plurality of possible locations for each of the plurality of vehicles using the plurality of radar transceivers operating via a second mode;
alternating the plurality of radar transceivers between the first mode and the second mode; and
determining a location for each of the plurality of vehicles by removing any of the first plurality of possible locations not substantially equivalent to at least one of the second plurality of possible locations and removing any of the second plurality of possible locations not substantially equivalent to at least one of the first plurality of possible locations.

8. The method of claim 7 , wherein a possible location being substantially equivalent to another possible location includes the possible location having a threshold correlation with the other possible location.

9. The method of claim 8 , wherein having the threshold correlation includes the possible location being within a particular distance from the other possible location.

10. The method of claim 7 , wherein the method includes alternating the plurality of radar transceivers between the first mode and the second mode at a particular frequency.

11. The method of claim 7 , wherein the plurality of radar transceivers is four radar transceivers.

12. The method of claim 7 , wherein determining which of the first plurality of possible locations is not substantially equivalent to at least one of the second plurality of possible locations and determining which of the second plurality of possible locations is not substantially equivalent to at least one of the first plurality of possible locations includes using at least one Kalman filtering technique.

13. A system for radar vehicle tracking, comprising:
a first radar transceiver configured to determine a first distance between the first radar transceiver and a first vehicle and a second distance between the first radar transceiver and a second vehicle via a first mode;
a second radar transceiver configured to determine a third distance between the second radar transceiver and the first vehicle and a fourth distance between the second radar transceiver and the second vehicle via the first mode;
a third radar transceiver configured to determine a fifth distance between the third radar transceiver and the first vehicle and a sixth distance between the third radar transceiver and the second vehicle via the first mode; and
a fourth radar transceiver configured to determine a seventh distance between the fourth radar transceiver and the first vehicle and an eighth distance between the fourth radar transceiver and the second vehicle via the first mode; and
a coordinator configured to:
receive the first, second, third, fourth, fifth, sixth, seventh, and eighth determined distances;
determine a first plurality of location estimates of the first and second vehicles based on the first, second, third, fourth, fifth, sixth, seventh, and eighth determined distances; and
cause the first, second, third, and fourth radar transceivers to switch to a second mode.

14. The system of claim 13 , wherein:
the first radar transceiver is configured to determine a first distance ellipse between the first radar transceiver and the first vehicle and a second distance ellipse between the first radar transceiver and the second vehicle via the second mode;
the second radar transceiver is configured to determine a third distance ellipse between the second radar transceiver and the first vehicle and a fourth distance ellipse between the second radar transceiver and the second vehicle via the second mode;
the third radar transceiver is configured to determine a fifth distance ellipse between the third radar transceiver and the first vehicle and a sixth distance ellipse between the third radar transceiver and the second vehicle via the second mode; and
the fourth radar transceiver is configured to determine a seventh distance ellipse between the fourth radar transceiver and the first vehicle and an eighth distance ellipse between the fourth radar transceiver and the second vehicle via the second mode; and
the coordinator is configured to:
receive the first, second, third, fourth, fifth, sixth, seventh, and eighth determined distance ellipses; and
determine a second plurality of location estimates of the first and second vehicles based on the first, second, third, fourth, fifth, sixth, seventh, and eighth determined distance ellipses.

15. The system of claim 14 , wherein the coordinator is configured to remove a particular location estimate of at least one of the first and second vehicles from the first plurality of location estimates if the particular location estimate is not included in the second plurality of location estimates.

16. The system of claim 15 , wherein the coordinator is configured to determine a location of at least one of the first and second vehicles based on the first plurality of location estimates and the second plurality of location estimates having removed the particular location estimate from the first plurality of location estimates.

17. The system of claim 14 , wherein the coordinator is configured to remove a particular location estimate of at least one of the first and second vehicles from the second plurality of location estimates if the particular location estimate is not included in

Assignees

• Honeywell Int Inc

Inventors

• Liu Haiyang
• Liu Xiao

Classifications

• G01S13/878

  Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence) · CPC title

• G01S13/91

  for traffic control (G01S13/93 takes precedence) · CPC title

• G01S13/723

  by using numerical data · CPC title

• G01S13/66 Primary

  Radar-tracking systems; Analogous systems · CPC title

• G01S13/003 Primary

  Bistatic radar systems; Multistatic radar systems · CPC title