Lyft, Inc.
SYSTEMS AND METHODS FOR ADAPTIVE GATING IN INITIALIZATION OF RADAR TRACKING

Abstract:

Systems, methods, and non-transitory computer-readable media provide an adaptive gating mechanism for radar tracking initialization. Specifically, the radar system obtains measurement data of target points, and then determines, based on the measured position and dopplers of points in the first few scans, whether the doppler and displacement parameters satisfy an initialization constraint. When the initialization constraint is not satisfied, the radar system flags the respective cluster with an initialization flag, and adaptively uses the measured position and doppler of scanned points to determine the gating size for the next scan, instead of using a fixed gate size. When the initialization flag of the same cluster across a few consecutive scans satisfies a combination logic, the radar system determines that the tracking enters into the association stage, e.g., the radar system formally generates a track for the target points along a series of scans.