Software defined automotive radar systems

• US 9,846,228 B2
• Filed: 04/25/2017
• Issued: 12/19/2017
• 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:
  US15/496,313
• Publication Number:
  US 20170293025A1
• Time in Patent Office: 238 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 the environment, the current information stored in the radar system, and/or external information provided to the radar system. The system allows improved resolution of range, Doppler and/or angle depending on the desired objective.

Claims

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

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

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

wherein each transmitter of the plurality of transmitters comprises a digital processing unit, a digital-to-analog converter, an analog processing unit, and a transmit antenna;

wherein each receiver of the plurality of receivers comprises a receive antenna, an analog processing unit, an analog-to-digital converter, a digital front end processing unit, and a digital back end processing system;

a memory;

a control unit configured to select an operating mode for the radar sensing system and to modify the plurality of transmitters and the plurality of receivers based on a current environment condition and operation status, and based on one of a best range resolution and a best velocity resolution;

wherein range information data produced by the digital front end processing unit of at least one receiver of the plurality of receivers is stored in the memory and then processed by the corresponding digital back end processor of the at least one receiver of the plurality of receivers, as directed by the control unit; and

wherein the range information data includes range information of objects in the environment, and wherein the range information data is stored in the memory for different receivers and for different scans, and wherein the processing of the range information data is controlled by the control unit.

2. The radar sensing system of claim 1, wherein the control unit is configured to modify at least one of an operation and a mode of at least one 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 modify at least one of an operation and a mode of at least one 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.

3. The radar sensing system of claim 1, wherein the data stored in the memory, before Doppler processing by the digital back end processor, is compressed, as controlled by the control unit.

4. The radar sensing system of claim 3, wherein the compression used is MPEG4-audio lossless coding.

5. The radar sensing system of claim 3, wherein before the Doppler processing, a window function, controlled by the control unit, is applied to a sequence of samples for a given range and receiver, and wherein the plurality of receivers includes virtual receivers.

6. The radar sensing system of claim 1, wherein after the range information data is stored in the memory, a sequence of samples, as selected by the control unit, is padded with zero valued samples prior to Doppler processing as configured by the control unit.

7. The radar sensing system of claim 1, wherein the control unit is operable to configure at least one receiver of the plurality of receivers to process the range information data stored in the memory, 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, weighted arithmetic mean, and weighted geometric mean of corresponding samples for different range bins associated with the object;

calculate one of 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 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.

8. The radar sensing system of claim 1, wherein the control unit is operable to configure at least one receiver of the plurality of receivers to process the range information data stored in the memory, and wherein the at least one receiver is configured to:

select an object for which 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.

9. The radar sensing system of claim 1, wherein the control unit is operable to configure at least one transmitter of the plurality of transmitters, and at least one receiver of the plurality of receivers to process the range information data stored in the memory;

wherein the at least one transmitter is configured to transmit with a first periodic code with a given period N;

wherein the at least one receiver is configured to store first N time correlator output samples;

wherein the at least one transmitter is configured to transmit with a second periodic code with a same period as the first periodic code;

wherein the at least one receiver is configured to store the second N time samples;

wherein the at least one receiver is configured to perform Doppler processing on each of K sets of N time samples to compute K frequency spectrums;

wherein the at least one receiver is configured to compare a frequency spectrum and identify frequencies where a Doppler magnitude is large in one spectrum but varies across the K frequency spectrums;

wherein the at least one receiver is configured to identify frequencies where the Doppler magnitude is large and remains substantially constant across the K frequency spectrums;

wherein the at least one receiver is configured to modify all captured time samples to remove Doppler processed samples corresponding to frequencies that correspond to inconsistent signals; and

wherein the at least one receiver is configured to perform a single FFT over all K*N modified samples.

10. The radar sensing system of claim 1, wherein the control unit is operable to configure at least one receiver of the plurality of receivers to process the range information data stored in the memory;

wherein the at least one receiver is configured to perform spatial windowing and beamforming on one or more input complex sample vectors from Doppler information stored in a radar data cube 2 (RDC2) for a given range and Doppler for various receivers and/or virtual receivers to produce output complex sample vectors stored in a radar data cube 3 (RDC3) for the corresponding range and Doppler and angle;

wherein the at least one receiver is configured to identify a region of samples in the RDC3 corresponding to a band of low absolute velocity that includes known ground clutter;

wherein the at least one receiver is configured to store samples of the RDC3 in the identified band in a separate memory buffer called the static slice;

wherein the at least one receiver is configured to tag the samples in the identified band as being included in the static slice;

wherein the at least one receiver is configured to process the complete set of RDC3 samples by one of a processing the complete set of RDC3 samples by a decimator and a sparsifier;

wherein the at least one receiver is configured to compare a magnitude of a sample to one or more thresholds configured by the control unit for each untagged sample in the RDC3 and the decimator or the sparsifier;

wherein the at least one receiver is configured to store a set of samples that depends upon an outcome of the comparison; and

wherein the at least one receiver is configured to include the sample in one or more distinct memory buffers.

11. The radar sensing system of claim 10, wherein the set of samples stored includes all samples with a same range and Doppler.

12. The radar sensing system of claim 10, wherein different thresholds are configured for different range bins.

13. The radar sensing system of claim 10, wherein the thresholds are determined by analyzing histograms of RDC3 sample magnitudes.

14. The radar sensing system of claim 10, wherein the control unit is operable to configure at least one receiver of the plurality of receivers to process the range information data stored in the memory;

wherein the at least one receiver is configured to analyze a static slice and a sparsified RDC3 (sRDC3) to identify regions of interest;

wherein the at least one receiver is configured to track regions of interest over time, including multiple scans, by storing relevant information in the memory;

wherein the at least one receiver is configured to choose a subset of the range, Doppler, angle space based on past information and current samples of the static slice and/or the sRDC3 in the regions of interest in which to perform super resolution angle of arrival processing;

wherein the at least one receiver is configured to select a subset of the range bins of a RDC1 on which to perform Doppler processing;

wherein the at least one receiver is configured to select a subset of the Doppler bins to perform super resolution processing;

wherein the at least one receiver is configured to configure a MUSIC (MUltiple Signal Classification) engine to provide super resolution processing on the subset of range, Doppler, angle space;

wherein the at least one receiver is configured to configure the MUSIC engine to determine location of peaks in the angular dimension for a specified subset of range, Doppler, angle space;

wherein the MUSIC engine is configured to calculate a sample covariance matrix from one or more samples of input data;

wherein the MUSIC engine is configured to perform spatial smoothing on the covariance matrix;

wherein the MUSIC engine is configured to calculate a singular value decomposition of the covariance matrix;

wherein the MUSIC engine is configured to use the singular values to estimate a number of signals;

wherein the MUSIC engine is configured to use a sub-matrix of the left unitary matrix representing the noise subspace to compute the MUSIC spectrum over a specified range of angles; and

wherein the MUSIC engine is configured to write to an output FIFO a list of angles corresponding to peaks of the MUSIC spectrum occurring in the specified range of angles.

15. The radar sensing system of claim 14, wherein the Doppler processing is performed by a channelizer.

16. The radar sensing system of claim 14, wherein the configuration includes setting the number of spatial smoothing steps, and the parameters for singular value decomposition (SVD) calculation.

17. The radar sensing system of claim 14, wherein the control unit configures the MUSIC engine by providing commands and parameters through a FIFO.

18. The radar sensing system of claim 1, wherein the control unit further configures 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.

19. The radar sensing system of claim 18, wherein a difference between consecutive range bins increases as the range increases.

20. The radar sensing system of claim 1 wherein a modification of the processing of the range information data is dependent on external information received by the radar system.