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

• US 10,598,764 B2
• Filed: 10/30/2017
• Issued: 03/24/2020
• Est. Priority Date: 10/30/2017
• Status: Active Grant

• Current Assignee: Yekutiel Josefsberg
• Original Assignee: Ai Cradar
• Inventors: Josefsberg, Yekutiel, Lavian, Tal
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US15/797,372
• Publication Number:
  US 20190128998A1
• Time in Patent Office: 876 Days
• Field of Search: None
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• 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 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 7/032 Constructional details for solid-state radar subsystems
• CPC Class Codes: H03L 7/087 using at least two phase detectors or a frequency and phase detector in the loop
• CPC Class Codes: H03L 7/091 the phase or frequency detector using a sampling device H03L7/087 takes precedence
• CPC Class Codes: H03L 7/185 using a mixer in the loop H03L7/187 - H03L7/195 take precedence
• CPC Class Codes: H03L 7/23 with pulse counters or frequency dividers

Abstract

A target detection and imaging system, comprising a RADAR unit and at least one ultra-low phase noise frequency synthesizer, is provided. The target detecting, and imaging system can assist other sensors such as LiDAR, camera to further detect and investigate objects on the road from distance. 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. signals. The ultra-low phase noise frequency synthesizer may utilize dual loop design comprising one main PLL and one sampling PLL, where the main PLL might include a DDS or Fractional-N PLL plus a variable divider, or the synthesizer may utilize a sampling PLL only, 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.

Claims

1. An object detection system for a vehicle comprising:

a RADAR, configured to collect data from surroundings of the vehicles, wherein the RADAR unit further comprises;

a plurality of transmitters, each of which transmits at least one radio signal to the one or more objects in the surroundings;

a plurality of receivers, each of which receives the at least one radio signal returned from the one or more objects in the surroundings;

at least one ultra-low phase noise frequency synthesizer, configured to determine phase noise and quality of the transmitted and the received at least one radio signal;

a processor, communicatively coupled to the RADAR and the at least one ultra-low phase noise frequency synthesizer configured to receive the data, wherein the processor is configured to generate a three-dimensional map of the surroundings and wherein the processor is further configured to differentiate animate and non- animate objects using an electromagnetic characteristics recognition in the surroundings; and

wherein the plurality of transmitters and the plurality of receivers of the RADAR are distributed all over the vehicle.

2. The object detection system of claim 1, wherein the at least one ultra-low phase noise frequency synthesizer comprises:

at least one clocking device configured to generate at least one first clock signal of at least one first clock frequency;

at least one sampling phase locked loop (PLL), communicably connected to the at least one clocking device;

at least one first fixed frequency divider configured to receive the at least one single reference frequency and to divide the at least one single reference frequency by a first predefined factor to generate at least one clock signal; and

at least one high frequency low phase noise Direct Digital Synthesizer (DDS) configured to receive the at least one clock signal and to generate at least one second clock signal of at least one second clock frequency.

3. The object detection system of claim 2, wherein the at least one sampling PLL comprises:

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

a Digital Phase/Frequency detector configured to receive the at least one first clock signal and a single reference frequency to generate at least a second analog control voltage;

a two-way DC switch in communication with the Digital Phase/Frequency detector and the sampling phase detector; and

at least one reference Voltage Controlled Oscillator (VCO) configured to receive the at least one analog control voltage to generate the single reference frequency.

4. The object detection system of claim 2, wherein the at least one ultra-low phase noise frequency synthesizer further comprises:

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

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

at least one main VCO configured to receive the at least one first analog control voltage or the at least one second analog control voltage and generate at least one output signal of at least one output frequency, wherein the at least one digital control voltage controls which of the at least one first analog control voltage or the at least one second analog control voltage is received by the at least one main VCO;

at least one down convert mixer configured to mix the at least one output frequency and the reference frequency to generate at least one intermediate frequency; and

at least one second fixed frequency divider configured to receive and divide the at least one intermediate frequency by a second predefined factor to generate the at least one feedback frequency.

5. The object detection system of claim 1, wherein the each of the plurality of transmitters have a corresponding receiver, and wherein the transmitters and the receiver are placed nearby to each other.

6. The object detection system of claim 1, wherein the plurality of transmitters and receivers are placed in anyone or a combination of front of the vehicle, rear of the vehicle, sides of the vehicle or on top of the vehicle.

7. The object detection system of claim 1, wherein the RADAR is further configured for imaging and shape recognition.

8. The object detection system of claim 1, wherein the RADAR is further configured for three-dimensional map generation with depth vision.

9. The object detection system of claim 1, further comprising at least one other data collecting sensor.

10. The object detection system of claim 9, wherein the at least one other data collecting sensor is anyone or a combination of a Light Detection and Ranging (LiDAR) sensor, a camera sensor, or an ultrasound sensor.

11. The object detection system of claim 10, wherein the LiDAR is configured to determine points of interests.

12. The object detection system of claim 10, wherein the camera sensor is a thermal camera, and wherein the thermal camera is configured to identify objects/silhouettes.

13. The object detection system of claim 1, wherein the RADAR is configured to detect visually obscured objects.

14. The object detection system of claim 1, wherein the RADAR is configured to determine object density for classifying objects.

15. An object detection method for a vehicle comprising:

collecting data from surroundings of the vehicle by a RADAR, the RADAR comprising;

a plurality of transmitters, each of which transmits at least one radio signal to the one or more objects in the surroundings;

a plurality of receivers, each of which receives the at least one radio signal returned from the one or more objects in the surroundings;

determining phase noise and quality of the transmitted and the received at least one radio signal by at least one ultra-low phase noise frequency synthesizer; and

generating, by a processor, a three-dimensional map of the surroundings of the vehicle; and

differentiating, by the processor, animate and non-animate objects using an electromagnetic characteristics recognition in the surroundings.

16. The method of claim 15, further comprising fusing the collected data with data from a plurality of other sensors, the plurality of other sensors is anyone or a combination of a Light Detection and Ranging (LiDAR) sensor, a camera sensor, or an ultrasound sensor.

17. The method of claim 15, further comprising performing at least one of:

detecting visually obscured objects; and

classifying objects based on determined object density.

18. The method of claim 15, further comprising imaging and shape recognition.

19. The method of claim 15, further comprising determining and fusing depth vision with the three-dimensional map.

20. The method of claim 15, wherein the each of the plurality of transmitters have a corresponding receiver, and wherein the plurality of transmitters and receivers are placed in anyone or a combination of front of the vehicle, rear of the vehicle, sides of the vehicle or on top of the vehicle.