Software defined automotive radar systems

• US 10,145,954 B2
• Filed: 12/18/2017
• Issued: 12/04/2018
• Est. Priority Date: 04/07/2016
• Status: Active Grant

• Current Assignee: Uhnder, Inc.
• Original Assignee: Uhnder, Inc.
• Inventors: Davis, Curtis, Maher, Monier, Bordes, Jean P., Hegde, Manju, Schmid, Otto A., Rao, Raghunath K., Goldenberg, Marius, Eshraghi, Aria, Giannini, Vito, Trager, David S., Bhagat, Nikhilesh, Gollapudi, Srikanth, Govindarajan, Sundar, Borho, Steve, Preussner, Jonathan, Dent, Paul W., Bassett, Paul, Alland, Stephen W., Harris, Fred, Stark, Wayne E., Ali, Murtaza
• Primary Examiner(s): Windrich, Marcus E
• Application Number:
  US15/844,994
• Publication Number:
  US 20180100918A1
• Time in Patent Office: 351 Days
• Field of Search: 342 70- 72
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• 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
• CPC Class Codes: H04B 17/309 Measuring or estimating channel quality parameters
• CPC Class Codes: H04B 17/345 Interference values signal-to-interference ratio [SIR] or carrier-to-interference ratio [CIR] H04B17/336
• CPC Class Codes: H04B 2201/71634 Applied to ranging
• CPC Class Codes: H04L 27/2278 using correlation techniques, e.g. for spread spectrum signals

Abstract

A radar system processes signals in a flexible, adaptive manner to determine range, Doppler (velocity) and angle of objects in an environment. The radar system processes the received signal to achieve different objectives depending on one or more of a selected range resolution, a selected velocity resolution, and a selected angle of arrival resolution, as defined by memory requirements and processing requirements. The system allows improved resolution of range, Doppler and/or angle depending on the memory requirements and processing requirements.

Claims

1. A method for operating a dynamically adaptable vehicular radar system, the method comprising:

providing a transmitter configured for installation and use on a vehicle;

providing a receiver configured for installation and use on the vehicle;

wherein the receiver comprises a dynamically adaptable digital front end processor and a dynamically adaptable digital back end processor;

providing a memory;

transmitting radio signals using the transmitter;

receiving radio signals using the receiver, wherein the received radio signals include transmitted radio signals transmitted by the transmitter and reflected from objects in an environment;

controlling an operation of at least one of the transmitter and the receiver to provide at least one of a selected range resolution, a selected velocity resolution, and a selected angle of arrival resolution;

wherein controlling the operation of at least one of the transmitter and the receiver is dynamically and adaptively variable, as defined by a selected functional requirement and a current environmental condition, and wherein the functional requirement comprises at least one of a selected processing time and a memory requirement;

storing data into the memory that was produced by the digital front end processing unit from the received radio signals; and

directing the digital back end processor to process the stored data based upon the controlled operation of the at least one of the transmitter and the receiver.

2. The method of claim 1, wherein, for a given radio signal bandwidth and receiver scan duration, selection of a velocity resolution comprising an increased velocity resolution results in selection of a range resolution comprising a decreased range resolution.

3. The method of claim 1, wherein, for a given radio signal bandwidth and receiver scan duration, selection of a range resolution comprising an increased range resolution results in selection of a velocity resolution comprising a decreased velocity resolution.

4. The method of claim 1, wherein controlling an operation of the transmitter comprises controlling an operation of at least one device selected from the group consisting of (i) a digital processing unit of the transmitter, (ii) a digital-to-analog converter of the transmitter, (iii) an analog processing unit of the transmitter, and (iv) a transmit antenna of the transmitter, and wherein controlling an operation of the receiver comprises controlling an operation of at least one device selected from the group consisting of (i) a receive antenna of the receiver, (ii) an analog processing unit of the receiver, (iii) an analog-to-digital converter of the receiver, (iv) a digital front end processing unit of the receiver, and (v) a digital back end processing system of the receiver.

5. The method of claim 1, wherein controlling an operation of the receiver comprises controlling the receiver to process range information from the received radio signals, and wherein the receiver is configured to:

identify a set of objects with a highest received signal strength;

estimate a Doppler velocity for the objects using one of a median, a weighted arithmetic mean, and a weighted geometric mean of corresponding samples for different range bins associated with an object;

calculate one of (i) a first phase shift, from one complex correlator input sample to a next complex correlator input sample, that corresponds to the estimated Doppler velocity, and (ii) a second phase shift, from one complex correlator output sample to a next complex correlator output sample, that corresponds to the estimated Doppler velocity; and

derotate an Nth complex sample pre or post correlator by a multiple of one of the first phase shift and the second phase shift, depending on which phase shift was estimated.

6. The method of claim 1, wherein controlling an operation of the receiver comprises controlling the receiver to process range information from the received radio signals, and wherein the receiver is configured to:

select an object for which a better Doppler estimation is desired;

store multiple time scans corresponding to a range of a desired object; and

perform Doppler processing on extended information from multiple scans to obtain more precise Doppler information.

7. The method of claim 1, wherein controlling an operation of at least one of the transmitter and the receiver is based upon external information received by the radar sensing system.

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

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

a receiver configured for installation and use on the vehicle, and configured to receive radio signals, wherein the received radio signals include transmitted radio signals transmitted by the transmitter and reflected from objects in an environment;

a memory;

a control unit configured to control an operation of at least one of the transmitter and the receiver to provide at least one of a selected range resolution, a selected velocity resolution, and a selected angle of arrival resolution, wherein the control unit is further configured to dynamically and adaptively vary the operation of at least one of the transmitter and the receiver, as defined by a selected functional requirement and a current environmental condition, and wherein the functional requirement comprises at least one of a selected processing time and a memory requirement;

wherein data produced by the receiver from the received radio signals is stored in the memory; and

wherein the control unit controls the processing of the stored data based upon the controlled operation of the at least one of the transmitter and the receiver.

9. The radar sensing system of claim 8, wherein, for a given radio signal bandwidth and receiver scan duration, selection of a velocity resolution comprising an increased velocity resolution results in selection of a range resolution comprising a decreased range resolution.

10. The radar sensing system of claim 8, wherein, for a given radio signal bandwidth and receiver scan duration, selection of a range resolution comprising an increased range resolution results in selection of a velocity resolution comprising a decreased velocity resolution.

11. The radar sensing system of claim 8, wherein the control unit is configured to control an operation of at least one device selected from the group consisting of (i) a digital processing unit of the transmitter, (ii) a digital-to-analog converter of the transmitter, (iii) an analog processing unit of the transmitter, and (iv) a transmit antenna of the transmitter, and wherein the control unit is configured to control an operation of at least one device selected from the group consisting of (i) a receive antenna of the receiver, (ii) an analog processing unit of the receiver, (iii) an analog-to-digital converter of the receiver, (iv) a digital front end processing unit of the receiver, and (v) a digital back end processing system of the receiver.

12. The radar sensing system of claim 8, wherein the control unit is configured to control an operation of the receiver to process range information from the received radio signals, and wherein the receiver is configured to:

identify a set of objects with a highest received signal strength;

estimate a Doppler velocity for the objects using one of a median, a weighted arithmetic mean, and a weighted geometric mean of corresponding samples for different range bins associated with an object;

calculate one of (i) a first phase shift, from one complex correlator input sample to a next complex correlator input sample, that corresponds to the estimated Doppler velocity, and (ii) a second phase shift, from one complex correlator output sample to a next complex correlator output sample, that corresponds to the estimated Doppler velocity; and

derotate an Nth complex sample pre or post correlator by a multiple of one of the first phase shift and the second phase shift, depending on which phase shift was estimated.

13. The radar sensing system of claim 8, wherein the control unit is configured to control an operation of the receiver to process range information from the received radio signals, and wherein the receiver is configured to:

select an object for which a better Doppler estimation is desired;

store multiple time scans corresponding to a range of a desired object; and

perform Doppler processing on extended information from multiple scans to obtain more precise Doppler information.

14. The radar sensing system of claim 8, wherein the control unit is configured to control an operation of at least one of the transmitter and the receiver based upon external information received by the radar sensing system.

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

a plurality of transmitters configured for installation and use on a vehicle, and configured to transmit radio signals;

a plurality of receivers configured for installation and use on the vehicle, and configured to receive radio signals, wherein the received radio signals include transmitted radio signals transmitted by the plurality of transmitters and reflected from objects in an environment;

a memory;

a control unit configured to control an operation of at least one of the plurality of transmitters and the plurality of receivers based upon at least one of memory requirements and processing time requirements, wherein the control unit is configured to dynamically and adaptively vary the operation of at least one of the transmitter and the receiver, as defined by a selected functional requirement and a current environmental condition, and wherein the control unit is further configured to adjust a radar data compression rate of the radar sensing system based upon one of a selected processing time and a memory requirement;

wherein data produced by the plurality of receivers from the received radio signals is stored in the memory; and

wherein the control unit controls the processing of the stored data based upon the controlled operation of the at least one of the plurality of transmitters and the plurality of receivers.

17. The radar sensing system of claim 15, wherein the control unit is configured to control an operation of at least one device selected from the group consisting of (i) a digital processing unit of at least one transmitter of the plurality of transmitters, (ii) a digital-to-analog converter of at least one transmitter of the plurality of transmitters, (iii) an analog processing unit of at least one transmitter of the plurality of transmitters, and (iv) a transmit antenna of at least one transmitter of the plurality of transmitters, and wherein the control unit is configured to control an operation of at least one device selected from the group consisting of (i) a receive antenna of at least one receiver of the plurality of receivers, (ii) an analog processing unit of at least one receiver of the plurality of receivers, (iii) an analog-to-digital converter of at least one receiver of the plurality of receivers, (iv) a digital front end processing unit of at least one receiver of the plurality of receivers, and (v) a digital back end processing system of at least one receiver of the plurality of receivers.

18. The radar sensing system of claim 15, wherein the control unit is configured to control an operation of at least one receiver of the plurality of receivers to process range information from the received radio signals, and wherein the at least one receiver is configured to:

identify a set of objects with a highest received signal strength;

estimate a Doppler velocity for the objects using one of a median, a weighted arithmetic mean, and a weighted geometric mean of corresponding samples for different range bins associated with an object;

calculate one of (i) a first phase shift, from one complex correlator input sample to a next complex correlator input sample, that corresponds to the estimated Doppler velocity, and (ii) a second phase shift, from one complex correlator output sample to a next complex correlator output sample, that corresponds to the estimated Doppler velocity; and

derotate an Nth complex sample pre or post correlator by a multiple of one of the first phase shift and the second phase shift, depending on which phase shift was estimated.

19. The radar sensing system of claim 15, wherein the control unit is configured to control an operation of at least one receiver of the plurality of receivers to process range information from the received radio signals, and wherein the at least one receiver is configured to:

select an object for which a better Doppler estimation is desired;

store multiple time scans corresponding to a range of a desired object; and

perform Doppler processing on extended information from multiple scans to obtain more precise Doppler information.

20. The radar sensing system of claim 15, wherein the control unit is configured to control an operation of each transmitter of the plurality of transmitters and each receiver of the plurality of receivers to correlate with a specified set of range bins to generate the range information data stored in memory, and wherein a difference between consecutive range bins increases as the range increases.

21. The radar sensing system of claim 15, wherein the control unit is configured to control an operation of at least one of the plurality of transmitters and the plurality of receivers based upon external information received by the radar sensing system.

16. A radar sensing system for a vehicle, the radar sensing system, comprising;

a plurality of transmitters configured for installation and use on a vehicle, and configured to transmit radio signals;

a plurality of receivers configured for installation and use on the vehicle, and configured to receive radio signals, wherein the received radio signals include transmitted radio signals transmitted by the plurality of transmitters and reflected from objects in an environment;

a memory;

a control unit configured to control operation of at least one of the plurality of transmitters and the plurality of receivers based upon at least one of memory requirements and processing requirement, wherein the control unit is further configured to dynamically and adaptively vary the operation of at least one of the transmitter and the receiver, as defined by a selected functional requirement and a current environmental condition, wherein controlling an operation of at least one of the plurality of receivers comprises compressing one or more range bins dynamically and adaptively to achieve a selected memory requirement;

wherein data produced by the plurality of receivers from the received radio signals is stored in the memory; and

wherein the control unit controls the processing of the stored data based upon the controlled operation of the at least one of the plurality of transmitters and the plurality of receivers.