Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
  • G01S13/06—Systems determining position data of a target
  • G01S13/42—Simultaneous measurement of distance and other co-ordinates
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
  • G01S13/06—Systems determining position data of a target
  • G01S13/42—Simultaneous measurement of distance and other co-ordinates
  • G01S13/426—Scanning radar, e.g. 3D radar
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
  • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01Q—ANTENNAS, i.e. RADIO AERIALS
  • H01Q1/00—Details of, or arrangements associated with, antennas
  • H01Q1/27—Adaptation for use in or on movable bodies
  • H01Q1/32—Adaptation for use in or on road or rail vehicles
  • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
  • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01Q—ANTENNAS, i.e. RADIO AERIALS
  • H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
  • H01Q15/02—Refracting or diffracting devices, e.g. lens, prism
  • H01Q15/08—Refracting or diffracting devices, e.g. lens, prism formed of solid dielectric material
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01Q—ANTENNAS, i.e. RADIO AERIALS
  • H01Q25/00—Antennas or antenna systems providing at least two radiating patterns
  • H01Q25/007—Antennas or antenna systems providing at least two radiating patterns using two or more primary active elements in the focal region of a focusing device
  • H01Q25/008—Antennas or antenna systems providing at least two radiating patterns using two or more primary active elements in the focal region of a focusing device lens fed multibeam arrays
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B33—ADDITIVE MANUFACTURING TECHNOLOGY
  • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
  • B33Y80/00—Products made by additive manufacturing
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/408—Radar; Laser, e.g. lidar
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
  • G05D2111/30—Radio signals
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01Q—ANTENNAS, i.e. RADIO AERIALS
  • H01Q21/00—Antenna arrays or systems
  • H01Q21/29—Combinations of different interacting antenna units for giving a desired directional characteristic

Definitions

• the present invention relates to a method of adaptively sensing the surrounding environment of an autonomous automobile using a 3D printed Luneburg lens based millimeter wave radar and a method of mitigating interference of said radar.
• the present invention proposes to investigate and develop a novel millimeter wave (30 - 300 GHz) radar (76 - 81 GHz) with high angular resolution ( ⁇ 2°), long detection range (> 200 m), and full coverage surrounding an automobile that may present a critical sensor solution satisfying the challenging requirements of autonomous driving.
• the proposed radar combines innovative hardware (3-dimensional ("3D") printing enabled Luneburg lens) and advanced sensing (adaptive radar techniques) with interference avoidance and fast processing capabilities. It will have adequate sensitivity and resolutions (angular, range, and Doppler/speed) to locate and recognize all moving and stationary targets surrounding an automobile within 10 milliseconds, while maintaining a compact size and affordable cost.
• millimeter wave radar Compared to ultrasonic sensors, millimeter wave radar has the advantages of smaller size, lighter weight, higher resolution, and longer range. Compared to Lidar and camera based sensors, it has much better performance in penetrating rain, snow, fog, smoke, and dust, leading to higher reliability that is critical for autonomous driving. Although Lidar provides the highest resolution among all existing sensors and is used in most of the current autonomous automobile prototypes, its high cost and adverse response to inclement weather are major drawbacks.
• a 3D Luneburg lens with gradient index has advantages of high gain, broadband functionality, and capability of forming multiple beams simultaneously, which are highly desirable for many wireless sensing and communication applications.
• the conventional manufacturing methods to fabricate Luneburg lens are time consuming, expensive or can be only used to build 2D lenses.
• the upper frequency limit for commercially available 3D Luneburg lens is only 10 GHz, not suitable for millimeter- wave radar.
• the present invention utilizes a 3D printed Luneburg lens operating in the millimeter wave range.
• An exemplary fabrication technique of such a lens is disclosed in "A 3D Luneburg Lens Antenna Fabricated by Polymer Jetting Raped Prototyping," Xin, et. al.
• Xin's 3D printing approach is much more convenient, fast, inexpensive and capable of implementing Luneburg lenses in the millimeter-wave range.
• feeding elements e.g., antennas
• the proposed Luneburg lens based radar has a significantly improved gain and sharper beams, leading to a much better SNR (> factor of 2), angular resolution (> factor of 2), and detection range with the same number of feeding elements.
• the proposed radar can cover all azimuth and elevation angles with the same performance operation of the conventional planar phased array radar, thus eliminating the need for separating far, mid, and near range hardware.
• the special focusing property of Luneburg lens enables greatly reduced computational cost in angle estimation compared to conventional planar array radars. Consequently, the processing time can be greatly reduced with this novel Luneburg lens based configuration, especially for wide fields of view coverage with high angular resolution.
• the Luneburg lens based radar of the present invention can adaptively adjust its spatial sensing pattern, sweeping frequency band, pulse repetition frequency, and coherent processing interval according to the environment.
• An embodiment of the present invention features an adaptive sensing method for scanning an environment, comprising a plurality of specific regions, surrounding an autonomous automobile.
• the method comprises providing a millimeter wave automotive radar.
• the millimeter wave automotive radar comprises: one or more millimeter wave transceivers, a 3D printed Luneburg lens having an upper frequency limit in a millimeter wave range, a plurality of antenna feed elements operatively coupled to the one or more millimeter wave transceivers, and one or more processing elements operatively coupled to the plurality of antenna feed elements.
• the plurality of antenna feed elements is mounted to a surface of the 3D printed Luneburg lens and are each positioned in a determined direction.
• each processing element processes a given signal originating from a specific region, of the plurality of specific regions.
• a rough scan of the environment is performed via the millimeter wave automotive radar.
• the rough scan comprises the steps of:
• a detailed scan is then performed comprising the steps of:
• Use of the 3D printed Luneburg lens for digitally focusing the first and second set of signals before processing results in an improvement in signal to noise ratio, angular resolution, detection range, and faster processing compared to conventional planar phased arrays. Further, performing the rough scan and, subsequently, the detailed scan adaptively adjusts a spatial sensing pattern, a sweeping frequency band, a pulse repetition frequency, and a coherent processing interval according to the environment.
• the method further comprises determining channels of the millimeter wave spectrum that are available, for a period of time, to estimate the opportunity spectrum access ("OSA").
• OSA opportunity spectrum access
• POMDP Partially Observable Markov Decision Process
• the frequency band of the millimeter wave spectrum is divided into multiple channels, and the POMDP is used to describe the availability of the channels. According to past observations of interference, the POMDP predicts the existence of interference in a given channel in the near future. Available channels are considered those having low probability of interference.
• Systems and methods for improving the angular resolution (i.e., spatial resolution) of radars for use in autonomous automobiles have been the subject of various patents.
• US20070296640 details a multi-beam antenna utilizing a spherical, shared dielectric lens for use in long and short range automotive radar detection.
• Waveguide feeds coupled to the surface of the lens at predetermined positions, propagate electromagnetic waves at a selected frequency.
• the dielectric lenses and waveguide feeds cause a significant increase in the size and complexity of the system size and thus require expensive manufacturing costs. Further, the large size of the waveguide feeds prohibits the achievement of high angular resolution.
• US20060158369 describes a millimeter wave automotive radar for use in autonomous driving.
• the radar consists of an antenna plate, on which a transmitting antenna and two receiving antennas are arranged, and a processor that detects the azimuth angle of a target with respect to a reference direction.
• the need for an improved angular coverage is addressed here as well, but at a cost of increased complexity of the design (requires a motor to operate the rotating antenna plate).
• the Luneburg lens based millimeter wave automotive radar of the present invention provides a technical solution as the high gain, broadband functionality, and the simultaneous multiple beam forming capability of the Luneburg lens, having an upper frequency limit in a millimeter wave range, provides a significantly improved gain and sharper beams, leading to an improved angular resolution (> factor of 2). This improvement is acquired without increasing the complexity of the design as the same number of feeding elements are required.
• the present invention also features a multiple input multiple output (“MIMO") technique that further improves the angular resolution of the present millimeter wave automotive radar without requiring an increase in the number of transceivers.
• MIMO multiple input multiple output
• the proposed adaptive sensing method executed via the present millimeter wave automotive radar, has demonstrated an improved scanning efficiency (which directly relates to the scanning speed) of between 2-10 times (depending on the complexity of the environment) compared to conventional radars.
• FIG. 1 shows an exemplary representation of the present millimeter wave automotive radar.
• FIG. 2 shows a flow diagram that details the scanning procedure of the present millimeter wave automotive radar in accordance with an exemplary embodiment.
• FIG. 3 is a depiction of the adaptive sensing method employed by the millimeter wave automotive radar of the present invention.
• FIG. 4 is a depiction of the dynamic spectrum access method used to predict interference.
• FIGs. 5A-5B show an example of radar output comparisons between conventional radar sensing and the present millimeter wave automotive radar in computing the angle between a detected object and the radar in use.
• Target 1 is located 0 degrees and 200 meters away from the radar;
• target 2 is located at 30 degrees and 50 meters away from the radar; and
• target 3 is located -45 degrees and 150 meters away from the radar.
• FIG. 6 shows the results of the present adaptive sensing method compared to results obtained using conventional methods.
• the present adaptive sensing method requires fewer samples to obtain sensing results compared to conventional autonomous automobile radars.
• FIG. 7 shows a schematic illustration of the present millimeter wave automotive radar, where each transmitter/receiver covers a certain angle area of the environment.
• FIG. 8 shows an example of spatial sensing patterns for the adaptive sensing method.
• FIG. 9A shows a target imaged generated by the present millimeter wave automotive radar without applying the present adaptive sensing method.
• FIG. 9B shows a target imaged generated by the present millimeter wave automotive radar applying the present adaptive sensing method.
• FIG. 10 shows a depiction of interference generated when two signals are crossing.
• FIG. 11A shows a detected received signal before interference.
• FIG. 11 B shows a detected received signal in the presence of interference.
• FIG. 11 C shows a detected received signal after the interference signal has been excised.
• FIG. 12A shows the Range/Doppler results of the detected received signal of FIG. 1 1 A.
• FIG. 12B shows the Range/Doppler results of the detected received signals of FIG. 1 1 B.
• FIG. 12C shows the Range/Doppler results the detected received signal of FIG. 11 C.
• the present invention features an adaptive sensing method for scanning an environment, comprising a plurality of specific regions, surrounding an autonomous automobile.
• the method comprises providing a millimeter wave automotive radar.
• the millimeter wave automotive radar comprises: one or more millimeter wave transceivers, a 3D printed Luneburg lens having an upper frequency limit in a millimeter wave range, a plurality of antenna feed elements operatively coupled to the one or more millimeter wave transceivers, and one or more processing elements operatively coupled to the plurality of antenna feed elements and transceivers.
• the one or more millimeter wave transceivers are each separate transmitter and receiver devices.
• the plurality of antenna feed elements are mounted to a surface of the 3D printed Luneburg lens and are each positioned in a determined direction.
• the one or more processing elements processes a given signal originating from a specific region, of the plurality of specific regions.
• a rough scan of the environment is performed via the millimeter wave automotive radar.
• the rough scan comprises the steps of:
• a detailed scan is then performed of each region of interest comprising the steps of:
• 3D printed Luneburg lens for digitally focusing the first and second set of signals before processing results in an improvement in signal to noise ratio, angular resolution, detection range, and processing speed of the millimeter wave automotive radar compared to conventional planar phased arrays. Further, performing the rough scan and, subsequently, the detailed scan adaptively adjusts a spatial sensing pattern, a sweeping frequency band, a pulse repetition frequency, and a coherent processing interval according to the environment as the rough scan updates sensing results via the narrow scanning beam of the detailed scan.
• the signal strength of a signal processed by a given processing element exceeds the first predetermined threshold when the signal interacts with one or more objects of interest. In this way, sensing of objects in the environment is accomplished. Processing the second set of signals yields information about the one or more objects of interest sensed by the millimeter wave automotive radar.
• a plurality of first predetermined thresholds is set for a plurality of distances to detect a presence of the one or more objects of interest each residing a distance away from the millimeter wave automotive radar.
• one or more millimeter wave receivers and one or more millimeter wave transmitters are used in lieu of the one or more millimeter wave transceivers.
• a MIMO technique is employed to improve the angular resolution of the millimeter wave automotive radar.
• the MIMO technique comprises measuring a magnitude and a phase of the one or more millimeter wave receivers for each millimeter wave transmitter and calculating a plurality of phase differences for different target directions between each of the one or more millimeter wave transmitters. The plurality phase differences may then be compensated for and a plurality of radar results from different millimeter wave transmitters (of the one or more millimeter wave transmitters) are coherently added to generate a scanning beam narrower than a half power beam width of the 3D printed Luneburg lens to realize an improved angle resolution. The scanning beam may then be transmitted to each region of interest as the narrow scanning beam.
• the MIMO technique is effective for improving the angular resolution of the millimeter wave automotive radar for a given number of transceivers.
• the MIMO technique may be applied to decrease the number of transceivers required for a given angular resolution.
• An output comparison of the angle finding methods of a conventional planar array radar and the present millimeter wave automotive radar are displayed in FIG. 5.
• the one or more wide beam patterns and the narrow scanning beam may be transmitted to the environment through one or more channels (or, alternately, frequency bands) of a millimeter wave spectrum.
• the OSA is estimated to determine an availability of the one or more channels for a given period of time.
• POMDP is used to estimate the OSA.
• the POMDP is used to describe the availability of channels. According to past observations of interference, the POMDP predicts the existence of interference in a given channel in the near future. Available channels are those having low probability of interference.
• subsequent narrow scanning beams are transmitted the regions of interest for a determined number of iterations. Each iteration may further narrow a number of the regions of interest and/or yield information about each region of interest in increasing detail.
• an interference suppression technique is employed to remove interference from any received signal.
• the received signal may be the first set of signals, the second set of signals, or signals resulting from the transmission of subsequent narrow scanning beams to regions of interest.
• the present millimeter wave automotive radar typically employs linear frequency modulated waveforms as transmitted signals (see FIG. 10). Interference occurs when the signal of an intruder radar crosses these transmitted signals. Interference may cause the present adaptive sensing method to detect fake targets, increase the noise floor, or miss real targets when processing received signals. One way to suppress this interference is to excise received signals in the time domain. Note that the interference only exists when the signal of the intruder crosses the transmitted signals of the present radar. The interference typically has a short duration, as shown in FIG.
• the interference suppression technique is performed in the time domain and comprises the steps of:
• each processing element comprises a memory operatively coupled to a processor executing one or more sets of instructions stored in the memory.
• the one or more sets of instructions comprises generating the one or more wide beam patterns and the narrow scanning beam, processing the first set of signals and the second set of signals, and executing the MIMO and interference techniques.
• the memory further stores the plurality of first predetermined thresholds and the second predetermined threshold.
• the angle of a detected object relative to the millimeter wave automotive radar is detected using the amplitude values of the first set of signals and the calibrated sensitivity factors of the plurality of processing elements.
• the angle finding computational cost is greatly reduced compared to conventional radar systems using a planar array (which uses a Fast Fourier Transform ("FFT") in the angle finding computation).
• FFT Fast Fourier Transform
• the angle finding approach is based on the measured phase difference between different receivers (alternately, elements).
• the computational cost in the angle finding technique employing FFT is proportional to N*log 2 (N).
• N log 2
• Accurate angle finding results can be directly obtained from the measured amplitude value and calibrated sensitivity factor of each receiver.
• N the computational cost is proportional to N, which is much faster than the conventional radar system.
• the processing time will be at least 4 times faster than the conventional radar having the same number of elements.
• a less than 1- millisecond computational time is required for angle finding with the present radar. Since the angle finding technique of the present millimeter wave automotive radar is amplitude based, the calibration compensating for the differences between receiver elements may be performed to improve the angle finding results.
• p(k),- j can be readily obtained from where k represents a type of waveform of the interference radar, a represents a channel's probability from busy to idle, ⁇ represents a channel's probability from idle to busy, and / and j represent different channels.
• a time slot, T - n + 1, and action, a are selected that will optimize performance in the remaining n decision intervals.
• the dynamic behavior of the information vector ⁇ is a discrete-time continuous-state Markov process. Given the prior information ⁇ on the state of the millimeter wave spectrum, the current knowledge ⁇ ', after observing ⁇ under action a, can be easily obtained via Bayes' rule:
• transmitter RPN7720, 10 dBm output power
• receiver RRN7745, 14 dB noise figure
• RCS radar cross section
• the signal to noise ratio will be 18 dB in the receiver channel.
• FIGs. 9A-9B shows a target image generated by the present millimeter wave automotive radar with and without applying the present adaptive sensing method.
• the processing time is shorted by a factor of 10 using present the adaptive sensing method.
• references to the inventions described herein using the phrase “comprising” includes embodiments that could be described as “consisting of, and as such the written description requirement for claiming one or more embodiments of the present invention using the phrase “consisting of is met.

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• 2017
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