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AWR1642BOOST: convergence of detections from moving object on road

Ashish Karel
Prodigy 160 points
Part Number: AWR1642BOOST


I'm working on AWR1642BOOST chip radar to detect moving objects on roads.So for the purpose i configured a multi-mode radar(usrr, srr) and mounted it at the center on the front part of my car and started taking detections from radar and simultaneously capturing the video.

But i observe a strange thing happening with my detections from the other objects on road.When an object is far away from radar it will have two major clusters of detections, but as the object comes closer to radar those two cluster also comes closer and finally merge.

Can anyone help me or point me out what could be the possible reason for this kind behaviour?

I attaching a sample detection video to get a better understanding of my situation!

  • 0
    TI__Guru**** 150224 points
    Hi,

    Can you please provide more details about the SW being used?

    Are you using SW from TI (SRR demo) or did you develop your own software

    thank you
    Cesar
  • 0 in reply to Cesar
    Prodigy 160 points

    Hi cesar,

    I'm using awr1642boost board like a mimo radar i.e 2 subframes concurrently(usrr, and srr) using the advanced sub frame configurations file.

    Note i'm not using the  TIDEP application, instead i'm using awr1642boost board!

    Below is the configuration which i'm using right now to configure my board.

    % 2 subframes
    sensorStop
    flushCfg
    dfeDataOutputMode 3
    channelCfg 15 3 0
    adcCfg 2 1
    adcbufCfg -1 0 0 1 0
    lowPower 0 1
    %
    profileCfg 0 77 7   5   87.3 0   0   42      1   512 6250   0  0  40
    profileCfg 1 77 3   3   56   0   0   8       1   256 5000   0  0  48
    %
    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 2
    %
    chirpCfg 2 2 1 0 0 0 0 1
    chirpCfg 3 3 1 0 0 0 0 2
    %
    bpmCfg 0 0 0 1
    bpmCfg 1 0 2 3
    %
    advFrameCfg 2 0 0 1 0
    subFrameCfg 0 0 0 2 32 32 0 1 1 32
    subFrameCfg 1 0 2 2 64 32 0 1 1 32  

    guiMonitor 0 1 0 0 0 0 0
    guiMonitor 1 1 0 0 0 0 0
    %
    cfarCfg 0 0 0 8 4 4 0 5120
    cfarCfg 0 1 0 4 2 3 0 5120
    cfarCfg 1 0 0 8 4 4 0 7000
    cfarCfg 1 1 0 4 2 3 0 7000
    %
    peakGrouping  0 1 1 1 1 229
    peakGrouping  1 1 0 0 1 920
    %
    multiObjBeamForming 0 1 0.5
    multiObjBeamForming 1 1 0.5
    %
    calibDcRangeSig 0 1 -3 3 256
    calibDcRangeSig 1 1 -2 2 256
    %
    extendedMaxVelocity 0 0
    extendedMaxVelocity 1 0
    %
    nearFieldCfg 0 0 0 0
    nearFieldCfg 1 0 0 0
    %
    clutterRemoval -1 0
    %
    compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
    measureRangeBiasAndRxChanPhase 0 1.5 0.2
    % Profle 0
    CQRxSatMonitor 0 3 4 127 0
    CQSigImgMonitor 0 119 4
    % Profle 1
    CQRxSatMonitor 1 3 18 127 0
    CQSigImgMonitor 1 127 4
    % Disable CQ
    analogMonitor 0 0
    %Disable LVDS streaming
    lvdsStreamCfg -1 0 0     0
    %
    sensorStart

    Regards,

    Ashish

  • 0 in reply to Ashish Karel
    TI__Guru**** 150224 points
    So, you are using the SRR software provided on the TI Resource Explorer, automotive toolbox?

    Thank you
    Cesar
  • 0 in reply to Cesar
    Prodigy 160 points

    No i'm not using the SRR software from the TI resource explorer, i have created my own pipeline to detect the objects using the AWR1642BOOST board using the advanced frame configurations with the above mentioned configuration! The raw data is extracted throught the uart port and then the objects are plotted along with the camera feed using my own created program.

    My question is regarding the above configurations i have provided, are they correct or have any error because using default configuration from the mmwave demo doesnt show such convergence of points?

    Regards,

    Ashish

  • 0 in reply to Ashish Karel
    TI__Guru**** 150224 points
    Hi,

    Please use the config that was provided in the SRR TI Design. This is the config that was validated.

    It is difficult to understand the details for a custom implementation.

    I will close this thread.

    If there are new questions please start a new thread.


    Thank you
    Cesar
  • 0
    TI__Expert 4720 points
    Hi Ashish,

    It looks like the target has exceeded the maximum unambiguous velocity of the chirp configuration that you are using.

    See if you can employ max-velocity enhancement techniques. The out of box demo has a 'maxVelEnh' command that you can enable. Alternatively you can use the SRR demo as a base for further work.

    Regards
    Anil
  • 0 in reply to Anil Mani
    Prodigy 160 points

    Hi Anil,

    Thanks for your answer and it seems to be more reasonable to me!
    So i didint find any configuration named 'maxVelEnh' in the out of box demo can you help me with that?

    Thanks,

    Ashish

  • 0 in reply to Ashish Karel
    TI__Expert 4720 points

    Hi Ashish,

    You can search for 'extendedMaxVelocity' in the SDK user-guide. Also, do look through the doxygen documentation to see how it works.

    Regards

    Anil

  • 0
    Prodigy 160 points
    Thanks anil for the answer!