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

2.4.9 Dynamic Clutter Removal

Dynamic clutter removal is an optional feature in the BSD demo processing chain designed to eliminate reflections from stationary roadside objects and the road, referred to as "dynamic clutter." A common feature of dynamic clutter is that all stationary points in the radial velocity-azimuth angle coordinate system are positioned alongside a sinusoidal curve, referred to as the "velocity profile." The velocity profile, shown in Figure 2-8, can be represented as

Equation 11. Vr(θ)=Vscos(θ+α)

where Vs denotes the speed of the sensor and α denotes the sensor mounting angle.


TIDEP-01034 Velocity Profile of Dynamic Clutter

Figure 2-8 Velocity Profile of Dynamic Clutter

By estimating Vs and α from near-range detected points, the dynamic clutter removal algorithm is able to filter dynamic clutter from other points that are relevant for the BSD application.

In the BSD demo, clutter removal is performed by the Dynamic Clutter Removal DPU located between AoA2D DPU and the Group Tracker DPU as shown in Figure 2-4. The stationary points are removed from the point cloud list after the AoA2D DPU, and the remaining points, the major points, are supplied to the tracker DPU. The clutter points can optionally be saved and appended to the point cloud list, and at the end of the processing can sent out together with the major points to the GUI visualizer.


TIDEP-01034 Dynamic Clutter Removal Implementation

Figure 2-9 Dynamic Clutter Removal Implementation

The clutter removal implemented in the BSD demo is depicted in Figure 2-8. The bottom of the figure shows the scene facing the sensor mounted at the rear of the moving vehicle. The middle section illustrates the point clouds corresponding to the scene in the x-y plane, while the top section illustrates the same point-cloud in the radial velocity-azimuth angle plane. Points within the red rectangle in the near range highlighted in red are assumed to mainly represent reflections from the road surface. Points within the yellow, green and purple rectangles correspond to reflections from the three vehicles. The remaining points represent reflections from other stationary objects. In the velocity-azimuth plane, points attributed to stationary objects clearly align within a narrow corridor following the velocity profile curve. With knowledge of Vs and α, these points can be easily filtered out.

Note: The BSD demo currently estimates the velocity profile based on the detection points reflected from the nearby road surface behind the vehicle. The algorithm operates under the assumption that the reflections from the nearby road surface are almost constantly present. However, to enhance reliability, more reliable estimates can be obtained from other sensors, such as the vehicle odometer or another sensor positioned closer to the ground, such as the sensor employed for the “kick to open” feature.