Adaptive filtering for FMCW interference mitigation in PMCW radar systems

• US 9,791,564 B1
• Filed: 04/20/2017
• Issued: 10/17/2017
• Est. Priority Date: 04/25/2016
• Status: Active Grant

• Current Assignee: Uhnder, Inc.
• Original Assignee: Uhnder, Inc.
• Inventors: Harris, Fred, Trager, David, Davis, Curtis, Rao, Raghunath K.
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US15/492,160
• Publication Number:
  US 20170307753A1
• Time in Patent Office: 180 Days
• CPC Class Codes: G01S 13/325 using transmission of coded signals, e.g. P.S.K. signals
• CPC Class Codes: G01S 13/34 using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
• CPC Class Codes: G01S 13/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 7/023 Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques auxiliary means for detecting or identifying radar signals or the like G01S7/021; means for anti-jamming G01S7/36
• CPC Class Codes: G01S 7/0233 Avoidance by phase multiplex
• CPC Class Codes: G01S 7/0234 Avoidance by code multiplex
• CPC Class Codes: G01S 7/356 involving particularities of FFT processing

Abstract

A radar sensing system for a vehicle includes a transmitter configured for installation and use on a vehicle and able to transmit radio signals. The radar sensing system also includes a receiver and a processor. The receiver is configured for installation and use on the vehicle and able to receive radio signals. The received radio signals include transmitted radio signals that are reflected from objects in the environment. The received radio signals further include radio signals transmitted by at least one other radar system. The processor samples the received radio signals to produce a sampled stream. The processor is configured to control an adaptive filter. Responsive to the processor, the adaptive filter is configured to filter the sampled stream, such that the radio signals transmitted by the at least one other radar system are removed from the received radio signals.

Claims

1. A radar sensing system for a vehicle, the radar sensing system comprising:

a transmitter configured for installation and use on a vehicle, and further configured to transmit a radio frequency (RF) signal;

a receiver configured for installation and use on the vehicle, and further configured to receive an RF signal that includes the transmitted RF signal reflected from objects in the environment, as well as further including other radio signals transmitted from at least one other radar system;

a processor;

an adaptive filter;

a bypass mechanism;

wherein the receiver is further configured to down-convert and sample the received RF signal to produce a sampled stream, and wherein the sampled stream is provided to the processor;

wherein the processor, responsive to processing of the sampled stream, controls the adaptive filter to filter the sampled stream, such that the other radio signals transmitted from the at least one other radar system are removed from the received RF signal; and

wherein the bypass mechanism is configured to determine whether an output of the adaptive filter is to be selected or an unfiltered sampled stream is to be selected.

2. The radar sensing system of claim 1, wherein the adaptive filter comprises a least mean square (LMS)-type of filter.

3. The radar sensing system of claim 2, wherein the LMS-type filter includes a finite impulse response filter.

4. The radar sensing system of claim 3 comprising a plurality of receivers, each with a finite impulse response (FIR) filter, wherein all of the FIR filters use the same weight values for processing the received signal.

5. The radar sensing system of claim 3, wherein a portion of the coefficients are adapted and another portion of the coefficients are held constant.

6. The radar sensing system of claim 1, wherein the bypass mechanism is configured to make a selection based at least in part on a root mean square (RMS) amplitude value of an input of the adaptive filter and an RMS amplitude value of the output of the adaptive filter.

7. The radar sensing system of claim 1, wherein the unwanted interference is internal to the system.

8. The radar sensing system of claim 1, wherein the unwanted interference is due to clock spurs.

9. The radar sensing system of claim 1, wherein the at least one other radar system comprises at least one frequency modulated continuous wave radar system.

10. A radar sensing system for a vehicle, the radar sensing system comprising:

a transmitter configured for installation and use on a vehicle, and further configured to transmit radio signals;

a receiver configured for installation and use on the vehicle, and further configured to receive radio signals that include the transmitted radio signals reflected from objects in the environment, as well as further including other radio signals transmitted from at least one other radar system;

a processor;

an adaptive filter;

wherein the receiver is further configured to down-convert and sample the received radio signals to produce a sampled stream, and wherein the sampled stream is provided to the processor;

wherein the processor is configured to control the adaptive filter, and responsive to the processor, the adaptive filter is configured to output a filtered sampled stream, such that the effect of radio signals transmitted from the at least one other radar system are removed from the sampled stream; and

wherein the processor is further configured to measure an amplitude of the sampled stream and to measure an amplitude of the filtered sampled stream, and wherein the processor is further configured to select the filtered sampled stream for further range and velocity processing when a ratio of the amplitude of the filtered sampled stream to the amplitude of the sample stream is below a first threshold, otherwise the sampled stream is selected for the further range and velocity processing.

11. The radar sensing system of claim 10, wherein the processor is further configured to measure the amplitudes of the filtered sampled stream and the sampled stream by measuring root mean square signal levels of the filtered sampled stream and the sampled stream.

12. The radar sensing system of claim 10, wherein the stream selected for further processing is forwarded to a correlator and fast Fourier transform (FFT) processing module for further processing.

13. The radar sensing system of claim 10, wherein the adaptive filter comprises a least mean square (LMS)-type of filter.

14. The radar sensing system of claim 13, wherein the LMS-type filter includes a finite impulse response filter.

15. The radar sensing system of claim 10, wherein the at least one other radar system comprises at least one frequency modulated continuous wave radar system.

16. A method for removing interference from a radio signal received by a vehicle radar sensing system, said method comprising:

providing a radar sensing system comprising a transmitter configured for installation and use on a vehicle and configured to transmit radio signals, and a receiver configured for installation and use on the vehicle and configured to receive radio signals that are the transmitted radio signals reflected from objects in the environment, and wherein the received radio signals further include other radio signals transmitted from at least one other radar system;

providing an adaptive filter;

down-converting and digitizing the received radio signals to produce a baseband sampled stream;

providing the baseband sampled stream to the adaptive filter, wherein the adaptive filter is configured to output a filtered baseband sampled stream, such that the effect of the radio signals transmitted from the at least one other radar system are removed from the baseband sampled stream;

measuring an amplitude of the baseband sampled stream and measuring an amplitude of the filtered baseband sampled stream; and

selecting the filtered baseband sampled stream for further range and velocity processing when a ratio of the amplitude of the filtered baseband sampled stream to the amplitude of the baseband sampled stream is below a first threshold, otherwise, selecting the baseband sampled steam for the further range and velocity processing.

17. The method of claim 16, wherein measuring the amplitudes of the filtered baseband sampled stream and the baseband sampled stream comprise measuring root mean square signal levels of the filtered baseband sampled stream and the baseband sampled stream.

18. The method of claim 16, wherein the further range and velocity processing comprises correlation and fast Fourier transform (FFT) processing, respectively.

19. The method of claim 16, wherein providing an adaptive filter comprises providing a least mean square (LMS)-type of filter.

20. The method of claim 19, wherein the LMS-type filter includes a finite impulse response filter.

21. The method of claim 16, wherein the at least one other radar system comprises at least one frequency modulated continuous wave radar system.