Radar target detection system for autonomous vehicles with ultra-low phase noise frequency synthesizer

• US 10,348,313 B2
• Filed: 08/07/2017
• Issued: 07/09/2019
• Est. Priority Date: 06/18/2015
• Status: Expired due to Fees

• Current Assignee: Yekutiel Josefsberg
• Original Assignee: Ai Cradar
• Inventors: Josefsberg, Yekutiel, Lavian, Tal
• Primary Examiner(s): Le, Dinh T
• Application Number:
  US15/670,081
• Publication Number:
  US 20180019755A1
• Time in Patent Office: 701 Days
• Field of Search: 327113, 327147-159
• CPC Class Codes: H03L 7/07 using several loops, e.g. for redundant clock signal generation
• CPC Class Codes: H03L 7/085 concerning mainly the frequency- or phase-detection arrangement including the filtering or amplification of its output signal H03L7/10 takes precedence; circuits for comparing the phase or frequency of two mutually-independent oscillations H03D13/00
• CPC Class Codes: H03L 7/091 the phase or frequency detector using a sampling device H03L7/087 takes precedence
• CPC Class Codes: H03L 7/099 concerning mainly the controlled oscillator of the loop
• CPC Class Codes: H03L 7/113 using frequency discriminator
• CPC Class Codes: H03L 7/185 using a mixer in the loop H03L7/187 - H03L7/195 take precedence
• CPC Class Codes: H03L 7/20 using a harmonic phase-locked loop, i.e. a loop which can be locked to one of a number of harmonically related frequencies applied to it H03L7/22 takes precedence
• CPC Class Codes: H03L 7/23 with pulse counters or frequency dividers
• CPC Class Codes: H03L 7/24 using a reference signal directly applied to the generator

Abstract

An object detection system for autonomous vehicle, comprising a radar unit and at least one ultra-low phase noise frequency synthesizer, is provided. The radar unit configured for detecting the presence and characteristics of one or more objects in various directions. The radar unit may include a transmitter for transmitting at least one radio signal; and a receiver for receiving the at least one radio signal returned from the one or more objects. The ultra-low phase noise frequency synthesizer may utilize Clocking device, Sampling Reference PLL, at least one fixed frequency divider, DDS and main PLL to reduce phase noise from the returned radio signal. This proposed system overcomes deficiencies of current generation state of the art Radar Systems by providing much lower level of phase noise which would result in improved performance of the radar system in terms of target detection, characterization etc. Further, a method for autonomous vehicle is also disclosed.

Claims

1. An autonomous vehicle system, comprising:

a RADAR configured to detect at least one object, wherein the RADAR comprises;

a). at least one transmitter for transmitting at least one radio signal to the at least one object;

b). at least one receiver for receiving the at least one radio signal returned from the at least one object;

c). at least one ultra-low phase noise frequency synthesizer, wherein the at least one ultra-low phase noise frequency synthesizer comprises;

(i) at least one clocking device configured to generate at least one clock signal of at least one clock frequency;

(ii) at least one sampling Phase Locked Loop (PLL), wherein the at least one sampling PLL comprises;

(a) at least one sampling phase detector configured to receive the at least one clock signal and a single reference frequency to generate at least one first analog control voltage; and

(b) at least one reference Voltage Controlled Oscillator (VCO) configured to receive the at least one first analog control voltage or at least one second analog control voltage to generate the single reference frequency, wherein at least one digital control voltage controls one of the at least one first analog control voltage or the at least one second analog control voltage received by the at least one reference VCO;

(iii) at least one main Phase Locked Loop (PLL), wherein the at least one main PLL comprises;

(a) at least one Fractional-N synthesizer, wherein the at least one Fractional-N synthesizer further comprises;

 

(1) at least one high frequency Digital Phase/Frequency detector configured to receive and compare the at least one clock frequency and at least one feedback frequency to generate the at least one second analog control voltage and at least one digital control voltage; and

 

(2) at least one variable frequency divider configured to divide at least one intermediate signal by a predetermined factor N to generate at least one feedback signal of the at least one feedback frequency;

(b) at least one main VCO configured to receive at least one third analog control voltage and generate at least one output signal of at least one output frequency; and

(c) at least one down convert mixer configured to mix the at least one output frequency and the single reference frequency to generate the at least one intermediate signal of at least one intermediate frequency.

2. The system of claim 1, wherein the at least one ultra-low phase noise frequency synthesizer further comprises at least one fixed frequency multiplier configured to receive and multiply the at least one output signal generated by the at least one main PLL by a predefined factor to generate at least one final output signal of at least one final output frequency.

3. The system of claim 1, wherein the at least one down convert mixer lowers the at least one output frequency of the at least one output signal to reduce a ratio of frequencies of the at least one clock signal and the at least one feedback signal.

4. The system of claim 1, wherein reduction in the ratio of the frequencies of the at least one clock signal and the at least one feedback signal results in a reduction in a phase noise present in the at least one output signal.

5. The system of claim 1, wherein the at least one ultra-low phase noise frequency synthesizer implemented in form of an independent chip.

6. The system of claim 1, further comprises a processor for processing the signals to determine one or more characteristics corresponding to the one or more objects, thereby determine one or more actions being adoptable by the autonomous vehicle based on the one or more characteristics.

7. The system of claim 1, wherein the radar utilizes a modulated or a non-modulated radio signal to determine presence of a slow moving object.

8. The system of claim 1, wherein the radar utilizes a modulated or non modulated radio signal to determine an object within a close proximity range.

9. The system of claim 1, wherein the radar utilizes at least one of:

a modulated waveform and a non-modulated waveform to determine at least one of;

a distance of any object, one or more characteristics of two close objects of different or similar characteristics.

10. The system of claim 1, wherein the Radar differentiates objects of between different materials.

11. A method for autonomous vehicles, comprising:

detecting a presence of one or more objects in one or more directions by a radar unit, the radar unit comprising;

at least one transmitter for transmitting at least one radio signal to the at least one object;

at least one receiver for receiving the at least one radio signal returned from the at least one object;

at least one ultra-low phase noise frequency synthesizer, wherein the at least one ultra-low phase noise frequency synthesizer comprises;

(i) at least one clocking device configured to generate at least one clock signal of at least one clock frequency;

(ii) at least one sampling Phase Locked Loop (PLL), wherein the at least one sampling PLL comprises;

(a) at least one sampling phase detector configured to receive the at least one clock signal and a single reference frequency to generate at least one first analog control voltage; and

(b) at least one reference Voltage Controlled Oscillator (VCO) configured to receive the at least one first analog control voltage or at least one second analog control voltage to generate the single reference frequency, wherein at least one digital control voltage controls one of the at least one first analog control voltage or the at least one second analog control voltage received by the at least one reference VCO;

(iii) at least one main Phase Locked Loop (PLL), wherein the at least one main PLL comprises;

(a) at least one Fractional-N synthesizer, wherein the at least one Fractional-N synthesizer further comprises;

(1) at least one high frequency Digital Phase/Frequency detector configured to receive and compare the at least one clock frequency and at least one feedback frequency to generate the at least one second analog control voltage and at least one digital control voltage; and

(2) at least one variable frequency divider configured to divide at least one intermediate signal by a predetermined factor N to generate at least one feedback signal of the at least one feedback frequency;

(b) at least one main VCO configured to receive at least one third analog control voltage and generate at least one output signal of at least one output frequency; and

(c) at least one down convert mixer configured to mix the at least one output frequency and the single reference frequency to generate the at least one intermediate signal of at least one intermediate frequency.

12. The method of claim 11 further comprising receiving and multiplying, by ultra-low phase noise frequency synthesizer, the at least one output signal by a predefined factor to generate at least one final output signal of at least one final output frequency.

13. The method of claim 11 further comprising generating the upconverting or down converting signal of the radar unit.

14. The method of claim 11 further comprising determining presence of a slow moving target despite the very small Doppler frequency shift.

15. The method of claim 11 further comprising determining presence of a close range target despite the very short signal travel time.

16. The method of claim 11 further comprising determining a distance and a direction of each of the one or more objects.

17. The method of claim 11 further comprising determining a type of material an object is made up of.

18. The method of claim 11 further comprising activating one or more additional sensors for operation thereof in conjunction with the radar unit.

19. The method of claim 11 further comprising determining characteristics of two close objects irrespective of size of the objects.

20. The method of claim 11 further comprising differentiating between two or more types of the objects when one object is visually obscuring another object.