RADAR TARGET DETECTION SYSTEM FOR AUTONOMOUS VEHICLES WITH ULTRA-LOW PHASE NOISE FREQUENCY SYNTHESIZER

• US 20170302282A1
• Filed: 07/03/2017
• Published: 10/19/2017
• Est. Priority Date: 06/18/2015
• Status: Active Grant

• Current Assignee: Yekutiel Josefsberg
• Original Assignee: Tal Lavian, Yekutiel Josefsberg
• Inventors: Josefsberg, Yekutiel, Lavian, Tal
• Granted Patent: US 9,831,881 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 13/931 of land vehicles
• 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 or autonomous vehicle is also disclosed.

Claims

1. An object detection system for autonomous vehicles, comprising:

a radar unit coupled to at least one ultra-low phase noise frequency synthesizer, configured for detecting the presence of one or more objects in one or more directions, the radar unit comprising;

a transmitter for transmitting at least one radio signal to the one or more objects; and

a receiver for receiving the at least one radio signal returned from the one or more objects; and

the at least one ultra-low phase noise frequency synthesizer performing as a Local Oscillator (LO) for the radar unit, both the transmitted and the received signals, and thus determining the phase noise and the quality of the transmitted and the received radio signals, wherein the at least one ultra-low phase noise frequency synthesizer comprises;

(i) at least one clocking device configured to generate at least one first clock signal of at least one first 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 first 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 analog control voltage to generate the single reference frequency; and

(c) 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; and

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

(iii) at least one first fixed frequency divider configured to receive the at least one reference frequency and to divide the at least one reference frequency by a first predefined factor to generate at least one clock signal for at least one high frequency low phase noise Direct Digital Synthesizer (DDS) clock signal;

(iv) at least one high frequency low phase noise DDS configured to receive the at least one DDS clock signal and to generate at least one second clock signal of at least one second clock frequency; and

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

(a) 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;

(b) 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;

(c) 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

(d) 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.

2. The object detection system of claim 1, wherein the radar unit determines a distance and a direction of each of one or more objects.

3. The object detection system of claim 1, wherein the radar unit determines one or more characteristics, of two close objects irrespective of size of the one or more objects.

4. The object detection system of claim 1 further comprising at least one additional sensor system, available on the autonomous vehicle, in conjunction with the radar unit.

5. The object detection system of claim 1, wherein the radar unit differentiates between two or more types of the objects when one object is visually obscuring another object.

6. The object detection 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.

7. The object detection system of claim 1, wherein the at least one ultra-low phase noise frequency synthesizer is implemented on the same electronic circuitry or on a separate electronic circuitry.

8. The object detection system of claim 1, wherein the ultra-low phase noise frequency synthesizer may be used to generate the up or down converting signal of the radar unit.

9. The object detection system of claim 1, wherein the radar unit utilizes a modulated or non-modulated radio signal, to determine presence of a slow moving target despite the very small Doppler frequency shift.

10. The object detection system of claim 1, wherein the radar unit utilizes a modulated or non-modulated radio signal, to determine presence of a close range target despite the very short signal travel time.

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;

a transmitter for transmitting at least one radio signal to the one or more objects; and

a receiver for receiving the at least one radio signal returned from the one or more objects; and

performing, by at least one ultra-low phase noise frequency synthesizer, as a Local Oscillator (LO) for the radar unit, both the transmitted and the received signals, and thereby determining a phase noise and quality of the transmitted and the received radio signals, wherein the at least one ultra-low phase noise frequency synthesizer comprises;

(i) at least one clocking device configured to generate at least one first clock signal of at least one first 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 first 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 analog control voltage to generate the single reference frequency; and

(c) 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; and

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

(iii) at least one first fixed frequency divider configured to receive the at least one reference frequency and to divide the at least one reference frequency by a first predefined factor to generate at least one clock signal for at least one high frequency low phase noise Direct Digital Synthesizer (DDS) clock signal;

(iv) at least one high frequency low phase noise DDS configured to receive the at least one DDS clock signal and to generate at least one second clock signal of at least one second clock frequency; and

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

(a) 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;

(b) 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;

(c) 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

(d) 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.

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 up converting 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.