TIDUF76 June   2024

 

  1.   1
  2.   Description
  3.   Resources
  4.   Features
  5.   Applications
  6.   6
  7. 1System Description
    1. 1.1 Why use Radar?
    2. 1.2 TI Corner Radar Design
    3. 1.3 Key System Specification
  8. 2System Overview
    1. 2.1 Block Diagram
    2. 2.2 Design Considerations
    3. 2.3 Highlighted Products
      1. 2.3.1 AWRL1432 Single-Chip Radar Solution
      2. 2.3.2 AWRL1432BOOST-BSD Evaluation Module
      3. 2.3.3 TCAN4550-Q1 Integrated CAN-FD Controller and Transceiver
    4. 2.4 System Design Theory
      1. 2.4.1  Antenna Configuration
      2. 2.4.2  Chirp Configuration and System Performance
      3. 2.4.3  Data Path
      4. 2.4.4  Chirp Timing
      5. 2.4.5  Memory Allocation
      6. 2.4.6  Frame Reconfiguration
      7. 2.4.7  Vmax Extension
      8. 2.4.8  Group Tracker
      9. 2.4.9  Dynamic Clutter Removal
      10. 2.4.10 CAN-FD Transceiver
  9. 3Hardware, Software, Testing Requirements, and Test Results
    1. 3.1 Required Hardware and Software
      1. 3.1.1 Hardware
      2. 3.1.2 Software and GUI
    2. 3.2 Test Setup
    3. 3.3 Test Results
  10. 4Design and Documentation Support
    1. 4.1 Design Files
      1. 4.1.1 Schematics
      2. 4.1.2 BOM
    2. 4.2 Tools and Software
    3. 4.3 Documentation Support
    4. 4.4 Support Resources
    5. 4.5 Trademarks

2.4.8 Group Tracker

Real world radar targets (cars, pedestrians, and so forth) are presented to a tracking processing layer as a set of multiple reflection points. Those detection points form a group of correlated measurements with range, angle, SNR, and radial velocity. The group tracker, tracks a cluster of points (also known as group) in 2D over time based on a constant acceleration motion model. Figure 2-7 shows the main functional blocks of the group tracker algorithm. The subblocks shown in white are classical extended Kalman filter (EKF) operations. The subblocks shown in orange are additions to support multipoint grouping.


TIDEP-01034 Group Tracker Block Diagram

Figure 2-7 Group Tracker Block Diagram

These parameter sets can be tweaked based on test results or as per scene requirement.

Table 2-4 GTrack Parameter Sets
SCENARIOPARAMETER SETSCLI COMMANDSDESCRIPTION
1Scenery ParametersappSceneryParamsThese define the dimensions of the physical space in which the tracker operates. These also specify the radar sensor orientation and position.
Any measurement points outside these boundary boxes are not used by the tracker.
2Gating ParametersappGatingParamsThese determine the maximum volume and velocity of a tracked object and are used to associate measurement points with tracks that already exist.
Points detected beyond the limits set by these parameters are not included in the set of points that make up the tracked object.
3Allocation ParametersappAllocParamsThese are used to detect new tracks or people in the scene. When detected points are not associated with existing tracks, allocation parameters are used to cluster these remaining points and determine if that cluster qualifies as a person or target.
4State ParametersappStateParamsThe state transition parameters determine the state of a tracking instance. Any tracking instance can be in one of three states: FREE, DETECT, or ACTIVE.
5

Max Acceleration Parameters

Max number of points

Max number of tracks

gtrackMax acceleration parameters determine the maximum acceleration in the lateral, longitudinal, and vertical directions.