WO2024064765A1

WO2024064765A1 - High density antenna system

Info

Publication number: WO2024064765A1
Application number: PCT/US2023/074707
Authority: WO
Inventors: Joseph Brassard; Jungnam Bae; Sankara Mangaiahgari; Haiyan Zhang
Original assignee: Motional Ad Llc
Priority date: 2022-09-23
Filing date: 2023-09-20
Publication date: 2024-03-28

Abstract

Provided are systems, vehicles, and/or autonomous vehicles, which can include high density antenna systems. Some systems include a housing having a plurality of location positioning antennas, a plurality of vehicular communication antennas, and a plurality of telecommunication antennas. In some systems, a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.

Description

HIGH DENSITY ANTENNA SYSTEM

PRIORITY CLAIM

[1] This application claims the priority benefit of U.S. Patent Prov. App. 63/409236, entitled HIGH DENSITY ANTENNA SYSTEM, filed September 23, 2022, which is incorporated herein by reference in its entirety.

BRIEF DESCRIPTION OF THE FIGURES

[2] FIG. 1 is an example environment in which a vehicle including one or more components of an autonomous system can be implemented.

[3] FIG. 2 is a diagram of one or more example systems of a vehicle including an autonomous system.

[4] FIG. 3 is a diagram of components of one or more example devices and/or one or more example systems of FIGS. 1 and 2.

[5] FIG. 4 is a diagram of certain components of an example autonomous system.

[6] FIG. 5A is a diagram of an example implementation of a high-density antenna system.

[7] FIG. 5B is a diagram of two example adjacent antennas of the high-density antenna system shown in FIG. 5A emitting electromagnetic waves having different polarizations.

[8] FIG. 6A is a diagram of an example implementation of a high-density antenna system.

[9] FIG. 6B is a diagram of another example implementation of a high-density antenna system.

[10] FIGS. 7A-7B are diagrams illustrating examples of measured radiation patterns for the location positioning antennas (LPAs) of the high-density antenna system shown in FIGs. 6A and 6B, at a polar angle (theta) of 45°.

[11] FIGS. 8A-8B are diagrams illustrating examples of measured radiation patterns for the vehicular communication antennas (VCAs) of the high-density antenna system shown in FIGs. 6A and 6B at a polar angle (theta) of 60°. [12] FIGS. 9A-9J are measured radiation patterns for telecommunication antennas (TCAs) of the high-density antenna system shown in FIGs. 6A and 6B at a polar angle (theta) of 60°.

DETAILED DESCRIPTION

[13] Autonomous driving, such as for autonomous vehicles, requires a large amount of wireless connectivity, such as GNSS, V2X, and LTE, in order to operate in an environment. Wireless connectivity can be used for non-autonomous driving as well.

[14] GNSS is a Global Navigation Satellite System, such as Global Positioning System (GPS), Beidou, Global Navigation Satellite System (GLONASS), etc., for receiving location and time information. GNSS antennas should be on a roof of a vehicle to “see”, e.g., communicate with, satellites in the sky.

[15] V2X is “vehicle to everything” communication. V2X includes communication between a vehicle and an entity such as infrastructure (e.g., traffic lights), another vehicle, a pedestrian, and/or other autonomous vehicles. V2X antennas should also be on a roof to give 360-degree coverage around vehicle.

[16] Long-Term Evolution (LTE) is cellular communication, such as for fleet management, Over-The-Air (OTA) software updates, remote vehicle assistance, and other mission services.

[17] All of these types of communications and wireless connectivity require antennas, which may be challenging to robustly implement in a vehicle.

[18] In the following description numerous specific details are set forth in order to provide a thorough understanding of the present disclosure for the purposes of explanation. It will be apparent, however, that the embodiments described by the present disclosure can be practiced without these specific details. In some instances, well-known structures and devices are illustrated in block diagram form in order to avoid unnecessarily obscuring aspects of the present disclosure.

[19] Specific arrangements or orderings of schematic elements, such as those representing systems, devices, modules, instruction blocks, data elements, and/or the like are illustrated in the drawings for ease of description. However, it will be understood by those skilled in the art that the specific ordering or arrangement of the schematic elements in the drawings is not meant to imply that a particular order or sequence of processing, or separation of processes, is required unless explicitly described as such. Further, the inclusion of a schematic element in a drawing is not meant to imply that such element is required in all embodiments or that the features represented by such element may not be included in or combined with other elements in some embodiments unless explicitly described as such.

[20] Further, where connecting elements such as solid or dashed lines or arrows are used in the drawings to illustrate a connection, relationship, or association between or among two or more other schematic elements, the absence of any such connecting elements is not meant to imply that no connection, relationship, or association can exist. In other words, some connections, relationships, or associations between elements are not illustrated in the drawings so as not to obscure the disclosure. In addition, for ease of illustration, a single connecting element can be used to represent multiple connections, relationships or associations between elements. For example, where a connecting element represents communication of signals, data, or instructions (e.g., “software instructions”), it should be understood by those skilled in the art that such element can represent one or multiple signal paths (e.g., a bus), as may be needed, to affect the communication.

[21] Although the terms first, second, third, and/or the like are used to describe various elements, these elements should not be limited by these terms. The terms first, second, third, and/or the like are used only to distinguish one element from another. For example, a first contact could be termed a second contact and, similarly, a second contact could be termed a first contact without departing from the scope of the described embodiments. The first contact and the second contact are both contacts, but they are not the same contact.

[22] The terminology used in the description of the various described embodiments herein is included for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and the appended claims, the singular forms “a,” “an” and “the” are intended to include the plural forms as well and can be used interchangeably with “one or more” or “at least one,” unless the context clearly indicates otherwise. It will also be understood that the term “and/or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “comprises,” and/or “comprising,” when used in this description specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

[23] As used herein, the terms “communication” and “communicate” refer to at least one of the reception, receipt, transmission, transfer, provision, and/or the like of information (or information represented by, for example, data, signals, messages, instructions, commands, and/or the like). For one unit (e.g., a device, a system, a component of a device or system, combinations thereof, and/or the like) to be in communication with another unit means that the one unit is able to directly or indirectly receive information from and/or send (e.g., transmit) information to the other unit. This may refer to a direct or indirect connection that is wired and/or wireless in nature. Additionally, two units may be in communication with each other even though the information transmitted may be modified, processed, relayed, and/or routed between the first and second unit. For example, a first unit may be in communication with a second unit even though the first unit passively receives information and does not actively transmit information to the second unit. As another example, a first unit may be in communication with a second unit if at least one intermediary unit (e.g., a third unit located between the first unit and the second unit) processes information received from the first unit and transmits the processed information to the second unit. In some embodiments, a message may refer to a network packet (e.g., a data packet and/or the like) that includes data.

[24] As used herein, the term “if” is, optionally, construed to mean “when”, “upon”, “in response to determining,” “in response to detecting,” and/or the like, depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining,” “in response to determining,” “upon detecting [the stated condition or event],” “in response to detecting [the stated condition or event],” and/or the like, depending on the context. Also, as used herein, the terms “has”, “have”, “having”, or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based at least partially on” unless explicitly stated otherwise.

[25] "At least one," and "one or more" includes a function being performed by one element, a function being performed by more than one element, e.g., in a distributed fashion, several functions being performed by one element, several functions being performed by several elements, or any combination of the above.”

[26] Some embodiments of the present disclosure are described herein in connection with a threshold. As described herein, satisfying, such as meeting, a threshold can refer to a value being greater than the threshold, more than the threshold, higher than the threshold, greater than or equal to the threshold, less than the threshold, fewer than the threshold, lower than the threshold, less than or equal to the threshold, equal to the threshold, and/or the like.

[27] Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the various described embodiments. However, it will be apparent to one of ordinary skill in the art that the various described embodiments can be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

General Overview

[28] In some aspects and/or embodiments, systems and vehicles described herein include and/or implement an antenna system, such as a high density antenna system. For example, the antenna system includes a plurality of antennas, such as location positioning antennas, vehicular communication antennas, and telecommunication antennas, in a single housing. Vehicles typically use a single “shark fin” antenna that contains only one of each of these antennas, which is more cumbersome implementation than the disclosed antenna system.

[29] By virtue of the implementation of systems and techniques described herein, an antenna system is disclosed. Some of the advantages of these implementations include improving manufacturing simplicity and integration. Further advantages of these implementations include the ability to upgrade the antenna system, such as from LTE to 5G and beyond. The disclosed implementations can allow for adequate radio frequency performance with limited interference, while still supporting manufacturability design characteristics.

[30] Referring now to FIG. 1 , illustrated is example environment 100 in which vehicles that include autonomous systems, as well as vehicles that do not, are operated. As illustrated, environment 100 includes vehicles 102a-102n, objects 104a-104n, routes 106a-106n, area 108, vehicle-to-infrastructure (V2I) device 110, network 1 12, remote autonomous vehicle (AV) system 1 14, fleet management system 116, and V2I system 1 18. Vehicles 102a-102n, vehicle-to-infrastructure (V2I) device 110, network 1 12, autonomous vehicle (AV) system 1 14, fleet management system 116, and V2I system 1 18 interconnect (e.g., establish a connection to communicate and/or the like) via wired connections, wireless connections, or a combination of wired or wireless connections. In some embodiments, objects 104a-104n interconnect with at least one of vehicles 102a- 102n, vehicle-to-infrastructure (V2I) device 110, network 1 12, autonomous vehicle (AV) system 114, fleet management system 1 16, and V2I system 1 18 via wired connections, wireless connections, or a combination of wired or wireless connections.

[31] Vehicles 102a-102n (referred to individually as vehicle 102 and collectively as vehicles 102) include at least one device configured to transport goods and/or people. In some embodiments, vehicles 102 are configured to be in communication with V2I device 1 10, remote AV system 1 14, fleet management system 1 16, and/or V2I system 1 18 via network 112. In some embodiments, vehicles 102 include cars, buses, trucks, trains, and/or the like. In some embodiments, vehicles 102 are the same as, or similar to, vehicles 200, described herein (see FIG. 2). In some embodiments, a vehicle 200 of a set of vehicles 200 is associated with an autonomous fleet manager. In some embodiments, vehicles 102 travel along respective routes 106a-106n (referred to individually as route 106 and collectively as routes 106), as described herein. In some embodiments, one or more vehicles 102 include an autonomous system (e.g., an autonomous system that is the same as or similar to autonomous system 202). [32] Objects 104a-104n (referred to individually as object 104 and collectively as objects 104) include, for example, at least one vehicle, at least one pedestrian, at least one cyclist, at least one structure (e.g., a building, a sign, a fire hydrant, etc.), and/or the like. Each object 104 is stationary (e.g., located at a fixed location for a period of time) or mobile (e.g., having a velocity and associated with at least one trajectory). In some embodiments, objects 104 are associated with corresponding locations in area 108.

[33] Routes 106a-106n (referred to individually as route 106 and collectively as routes 106) are each associated with (e.g., prescribe) a sequence of actions (also known as a trajectory) connecting states along which an AV can navigate. Each route 106 starts at an initial state (e.g., a state that corresponds to a first spatiotemporal location, velocity, and/or the like) and ends at a final goal state (e.g., a state that corresponds to a second spatiotemporal location that is different from the first spatiotemporal location) or goal region (e.g., a subspace of acceptable states (e.g., terminal states)). In some embodiments, the first state includes a location at which an individual or individuals are to be picked-up by the AV and the second state or region includes a location or locations at which the individual or individuals picked-up by the AV are to be dropped-off. In some embodiments, routes 106 include a plurality of acceptable state sequences (e.g., a plurality of spatiotemporal location sequences), the plurality of state sequences associated with (e.g., defining) a plurality of trajectories. In an example, routes 106 include only high-level actions or imprecise state locations, such as a series of connected roads dictating turning directions at roadway intersections. Additionally, or alternatively, routes 106 may include more precise actions or states such as, for example, specific target lanes or precise locations within the lane areas and targeted speed at those positions. In an example, routes 106 include a plurality of precise state sequences along the at least one high level action sequence with a limited lookahead horizon to reach intermediate goals, where the combination of successive iterations of limited horizon state sequences cumulatively correspond to a plurality of trajectories that collectively form the high-level route to terminate at the final goal state or region.

[34] Area 108 includes a physical area (e.g., a geographic region) within which vehicles 102 can navigate. In an example, area 108 includes at least one state (e.g., a country, a province, an individual state of a plurality of states included in a country, etc.), at least one portion of a state, at least one city, at least one portion of a city, etc. In some embodiments, area 108 includes at least one named thoroughfare (referred to herein as a “road”) such as a highway, an interstate highway, a parkway, a city street, etc. Additionally, or alternatively, in some examples area 108 includes at least one unnamed road such as a driveway, a section of a parking lot, a section of a vacant and/or undeveloped lot, a dirt path, etc. In some embodiments, a road includes at least one lane (e.g., a portion of the road that can be traversed by vehicles 102). In an example, a road includes at least one lane associated with (e.g., identified based on) at least one lane marking.

[35] Vehicle-to-lnfrastructure (V2I) device 1 10 (sometimes referred to as a Vehicle-to- Infrastructure or Vehicle-to-Everything (V2X) device) includes at least one device configured to be in communication with vehicles 102 and/or V2I infrastructure system 1 18. In some embodiments, V2I device 1 10 is configured to be in communication with vehicles 102, remote AV system 1 14, fleet management system 1 16, and/or V2I system 1 18 via network 1 12. In some embodiments, V2I device 110 includes a radio frequency identification (RFID) device, signage, cameras (e.g., two-dimensional (2D) and/or three- dimensional (3D) cameras), lane markers, streetlights, parking meters, etc. In some embodiments, V2I device 1 10 is configured to communicate directly with vehicles 102. Additionally, or alternatively, in some embodiments V2I device 110 is configured to communicate with vehicles 102, remote AV system 114, and/or fleet management system 1 16 via V2I system 118. In some embodiments, V2I device 110 is configured to communicate with V2I system 118 via network 112.

[36] Network 112 includes one or more wired and/or wireless networks. In an example, network 1 12 includes a cellular network (e.g., a long term evolution (LTE) network, a third generation (3G) network, a fourth generation (4G) network, a fifth generation (5G) network, a code division multiple access (CDMA) network, etc.), a public land mobile network (PLMN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a telephone network (e.g., the public switched telephone network (PSTN), a private network, an ad hoc network, an intranet, the Internet, a fiber opticbased network, a cloud computing network, etc., a combination of some or all of these networks, and/or the like. [37] Remote AV system 114 includes at least one device configured to be in communication with vehicles 102, V2I device 110, network 112, fleet management system 116, and/or V2I system 118 via network 112. In an example, remote AV system 1 14 includes a server, a group of servers, and/or other like devices. In some embodiments, remote AV system 1 14 is co-located with the fleet management system 1 16. In some embodiments, remote AV system 114 is involved in the installation of some or all of the components of a vehicle, including an autonomous system, an autonomous vehicle compute, software implemented by an autonomous vehicle compute, and/or the like. In some embodiments, remote AV system 114 maintains (e.g., updates and/or replaces) such components and/or software during the lifetime of the vehicle.

[38] Fleet management system 1 16 includes at least one device configured to be in communication with vehicles 102, V2I device 110, remote AV system 1 14, and/or V2I infrastructure system 118. In an example, fleet management system 1 16 includes a server, a group of servers, and/or other like devices. In some embodiments, fleet management system 1 16 is associated with a ridesharing company (e.g., an organization that controls operation of multiple vehicles (e.g., vehicles that include autonomous systems and/or vehicles that do not include autonomous systems) and/or the like).

[39] In some embodiments, V2I system 118 includes at least one device configured to be in communication with vehicles 102, V2I device 110, remote AV system 114, and/or fleet management system 116 via network 1 12. In some examples, V2I system 118 is configured to be in communication with V2I device 1 10 via a connection different from network 112. In some embodiments, V2I system 118 includes a server, a group of servers, and/or other like devices. In some embodiments, V2I system 1 18 is associated with a municipality or a private institution (e.g., a private institution that maintains V2I device 1 10 and/or the like).

[40] The number and arrangement of elements illustrated in FIG. 1 are provided as an example. There can be additional elements, fewer elements, different elements, and/or differently arranged elements, than those illustrated in FIG. 1. Additionally, or alternatively, at least one element of environment 100 can perform one or more functions described as being performed by at least one different element of FIG. 1 . Additionally, or alternatively, at least one set of elements of environment 100 can perform one or more functions described as being performed by at least one different set of elements of environment 100.

[41] Referring now to FIG. 2, vehicle 200 includes autonomous system 202, powertrain control system 204, steering control system 206, and brake system 208. In some embodiments, vehicle 200 is the same as or similar to vehicle 102 (see FIG. 1 ). In some embodiments, vehicle 200 has autonomous capability (e.g., implement at least one function, feature, device, and/or the like that enable vehicle 200 to be partially or fully operated without human intervention including, without limitation, fully autonomous vehicles (e.g., vehicles that forego reliance on human intervention), highly autonomous vehicles (e.g., vehicles that forego reliance on human intervention in certain situations), and/or the like). For a detailed description of fully autonomous vehicles and highly autonomous vehicles, reference may be made to SAE International's standard J3016: Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems, which is incorporated by reference in its entirety. In some embodiments, vehicle 200 is associated with an autonomous fleet manager and/or a ridesharing company.

[42] Autonomous system 202 includes a sensor suite that includes one or more devices such as cameras 202a, LiDAR sensors 202b, radar sensors 202c, and microphones 202d. In some embodiments, autonomous system 202 can include more or fewer devices and/or different devices (e.g., ultrasonic sensors, inertial sensors, GPS receivers (discussed below), odometry sensors that generate data associated with an indication of a distance that vehicle 200 has traveled, and/or the like). In some embodiments, autonomous system 202 uses the one or more devices included in autonomous system 202 to generate data associated with environment 100, described herein. The data generated by the one or more devices of autonomous system 202 can be used by one or more systems described herein to observe the environment (e.g., environment 100) in which vehicle 200 is located. In some embodiments, autonomous system 202 includes communication device 202e, autonomous vehicle compute 202f, and safety controller 202g.

[43] Cameras 202a include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and/or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Cameras 202a include at least one camera (e.g., a digital camera using a light sensor such as a charge-coupled device (CCD), a thermal camera, an infrared (IR) camera, an event camera, and/or the like) to capture images including physical objects (e.g., cars, buses, curbs, people, and/or the like). In some embodiments, camera 202a generates camera data as output. In some examples, camera 202a generates camera data that includes image data associated with an image. In this example, the image data may specify at least one parameter (e.g., image characteristics such as exposure, brightness, etc., an image timestamp, and/or the like) corresponding to the image. In such an example, the image may be in a format (e.g., RAW, JPEG, PNG, and/or the like). In some embodiments, camera 202a includes a plurality of independent cameras configured on (e.g., positioned on) a vehicle to capture images for the purpose of stereopsis (stereo vision). In some examples, camera 202a includes a plurality of cameras that generate image data and transmit the image data to autonomous vehicle compute 202f and/or a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 1 16 of FIG. 1 ). In such an example, autonomous vehicle compute 202f determines depth to one or more objects in a field of view of at least two cameras of the plurality of cameras based on the image data from the at least two cameras. In some embodiments, cameras 202a is configured to capture images of objects within a distance from cameras 202a (e.g., up to 100 meters, up to a kilometer, and/or the like). Accordingly, cameras 202a include features such as sensors and lenses that are optimized for perceiving objects that are at one or more distances from cameras 202a.

[44] In an embodiment, camera 202a includes at least one camera configured to capture one or more images associated with one or more traffic lights, street signs and/or other physical objects that provide visual navigation information. In some embodiments, camera 202a generates traffic light data associated with one or more images. In some examples, camera 202a generates TLD data associated with one or more images that include a format (e.g., RAW, JPEG, PNG, and/or the like). In some embodiments, camera 202a that generates TLD data differs from other systems described herein incorporating cameras in that camera 202a can include one or more cameras with a wide field of view (e.g., a wide-angle lens, a fish-eye lens, a lens having a viewing angle of approximately 120 degrees or more, and/or the like) to generate images about as many physical objects as possible.

[45] Laser Detection and Ranging (LiDAR) sensors 202b include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and/or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). LiDAR sensors 202b include a system configured to transmit light from a light emitter (e.g., a laser transmitter). Light emitted by LiDAR sensors 202b include light (e.g., infrared light and/or the like) that is outside of the visible spectrum. In some embodiments, during operation, light emitted by LiDAR sensors 202b encounters a physical object (e.g., a vehicle) and is reflected back to LiDAR sensors 202b. In some embodiments, the light emitted by LiDAR sensors 202b does not penetrate the physical objects that the light encounters. LiDAR sensors 202b also include at least one light detector which detects the light that was emitted from the light emitter after the light encounters a physical object. In some embodiments, at least one data processing system associated with LiDAR sensors 202b generates an image (e.g., a point cloud, a combined point cloud, and/or the like) representing the objects included in a field of view of LiDAR sensors 202b. In some examples, the at least one data processing system associated with LiDAR sensor 202b generates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and/or the like. In such an example, the image is used to determine the boundaries of physical objects in the field of view of LiDAR sensors 202b.

[46] Radio Detection and Ranging (radar) sensors 202c include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and/or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Radar sensors 202c include a system configured to transmit radio waves (either pulsed or continuously). The radio waves transmitted by radar sensors 202c include radio waves that are within a predetermined spectrum In some embodiments, during operation, radio waves transmitted by radar sensors 202c encounter a physical object and are reflected back to radar sensors 202c. In some embodiments, the radio waves transmitted by radar sensors 202c are not reflected by some objects. In some embodiments, at least one data processing system associated with radar sensors 202c generates signals representing the objects included in a field of view of radar sensors 202c. For example, the at least one data processing system associated with radar sensor 202c generates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and/or the like. In some examples, the image is used to determine the boundaries of physical objects in the field of view of radar sensors 202c.

[47] Microphones 202d includes at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and/or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Microphones 202d include one or more microphones (e.g., array microphones, external microphones, and/or the like) that capture audio signals and generate data associated with (e.g., representing) the audio signals. In some examples, microphones 202d include transducer devices and/or like devices. In some embodiments, one or more systems described herein can receive the data generated by microphones 202d and determine a position of an object relative to vehicle 200 (e.g., a distance and/or the like) based on the audio signals associated with the data.

[48] Communication device 202e include at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, autonomous vehicle compute 202f, safety controller 202g, and/or DBW system 202h. For example, communication device 202e may include a device that is the same as or similar to communication interface 314 of FIG. 3. In some embodiments, communication device 202e includes a vehicle-to-vehicle (V2V) communication device (e.g., a device that enables wireless communication of data between vehicles).

[49] Autonomous vehicle compute 202f include at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, communication device 202e, safety controller 202g, and/or DBW system 202h. In some examples, autonomous vehicle compute 202f includes a device such as a client device, a mobile device (e.g., a cellular telephone, a tablet, and/or the like) a server (e.g., a computing device including one or more central processing units, graphical processing units, and/or the like), and/or the like. In some embodiments, autonomous vehicle compute 202f is the same as or similar to autonomous vehicle compute 400, described herein. Additionally, or alternatively, in some embodiments autonomous vehicle compute 202f is configured to be in communication with an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 1 14 of FIG. 1 ), a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1 ), a V2I device (e.g., a V2I device that is the same as or similar to V2I device 1 10 of FIG. 1 ), and/or a V2I system (e.g., a V2I system that is the same as or similar to V2I system 118 of FIG. 1 ).

[50] Safety controller 202g includes at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, communication device 202e, autonomous vehicle computer 202f, and/or DBW system 202h. In some examples, safety controller 202g includes one or more controllers (electrical controllers, electromechanical controllers, and/or the like) that are configured to generate and/or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertrain control system 204, steering control system 206, brake system 208, and/or the like). In some embodiments, safety controller 202g is configured to generate control signals that take precedence over (e.g., overrides) control signals generated and/or transmitted by autonomous vehicle compute 202f.

[51] DBW system 202h includes at least one device configured to be in communication with communication device 202e and/or autonomous vehicle compute 202f. In some examples, DBW system 202h includes one or more controllers (e.g., electrical controllers, electromechanical controllers, and/or the like) that are configured to generate and/or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertrain control system 204, steering control system 206, brake system 208, and/or the like). Additionally, or alternatively, the one or more controllers of DBW system 202h are configured to generate and/or transmit control signals to operate at least one different device (e.g., a turn signal, headlights, door locks, windshield wipers, and/or the like) of vehicle 200.

[52] Powertrain control system 204 includes at least one device configured to be in communication with DBW system 202h. In some examples, powertrain control system 204 includes at least one controller, actuator, and/or the like. In some embodiments, powertrain control system 204 receives control signals from DBW system 202h and powertrain control system 204 causes vehicle 200 to start moving forward, stop moving forward, start moving backward, stop moving backward, accelerate in a direction, decelerate in a direction, perform a left turn, perform a right turn, and/or the like. In an example, powertrain control system 204 causes the energy (e.g., fuel, electricity, and/or the like) provided to a motor of the vehicle to increase, remain the same, or decrease, thereby causing at least one wheel of vehicle 200 to rotate or not rotate.

[53] Steering control system 206 includes at least one device configured to rotate one or more wheels of vehicle 200. In some examples, steering control system 206 includes at least one controller, actuator, and/or the like. In some embodiments, steering control system 206 causes the front two wheels and/or the rear two wheels of vehicle 200 to rotate to the left or right to cause vehicle 200 to turn to the left or right.

[54] Brake system 208 includes at least one device configured to actuate one or more brakes to cause vehicle 200 to reduce speed and/or remain stationary. In some examples, brake system 208 includes at least one controller and/or actuator that is configured to cause one or more calipers associated with one or more wheels of vehicle 200 to close on a corresponding rotor of vehicle 200. Additionally, or alternatively, in some examples brake system 208 includes an automatic emergency braking (AEB) system, a regenerative braking system, and/or the like.

[55] In some embodiments, vehicle 200 includes at least one platform sensor (not explicitly illustrated) that measures or infers properties of a state or a condition of vehicle 200. In some examples, vehicle 200 includes platform sensors such as a global positioning system (GPS) receiver, an inertial measurement unit (IMU), a wheel speed sensor, a wheel brake pressure sensor, a wheel torque sensor, an engine torque sensor, a steering angle sensor, and/or the like.

[56] Referring now to FIG. 3, illustrated is a schematic diagram of a device 300. As illustrated, device 300 includes processor 304, memory 306, storage component 308, input interface 310, output interface 312, communication interface 314, and bus 302. In some embodiments, device 300 corresponds to at least one device of vehicles 102 (e.g., at least one device of a system of vehicles 102), at least one device of remote AV system 1 14, fleet management system 1 16, V2I system 1 18, and/or one or more devices of network 112 (e.g., one or more devices of a system of network 1 12). In some embodiments, one or more devices of vehicles 102 (e.g., one or more devices of a system of vehicles 102 such as at least one device of remote AV system 114, fleet management system 116, and V2I system 1 18, and/or one or more devices of network 1 12 (e.g., one or more devices of a system of network 1 12) include at least one device 300 and/or at least one component of device 300. As shown in FIG. 3, device 300 includes bus 302, processor 304, memory 306, storage component 308, input interface 310, output interface 312, and communication interface 314.

[57] Bus 302 includes a component that permits communication among the components of device 300. In some embodiments, processor 304 is implemented in hardware, software, or a combination of hardware and software. In some examples, processor 304 includes a processor (e.g., a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), and/or the like), a microphone, a digital signal processor (DSP), and/or any processing component (e.g., a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), and/or the like) that can be programmed to perform at least one function. Memory 306 includes random access memory (RAM), read-only memory (ROM), and/or another type of dynamic and/or static storage device (e.g., flash memory, magnetic memory, optical memory, and/or the like) that stores data and/or instructions for use by processor 304.

[58] Storage component 308 stores data and/or software related to the operation and use of device 300. In some examples, storage component 308 includes a hard disk (e.g., a magnetic disk, an optical disk, a magneto-optic disk, a solid state disk, and/or the like), a compact disc (CD), a digital versatile disc (DVD), a floppy disk, a cartridge, a magnetic tape, a CD-ROM, RAM, PROM, EPROM, FLASH-EPROM, NV-RAM, and/or another type of computer readable medium, along with a corresponding drive.

[59] Input interface 310 includes a component that permits device 300 to receive information, such as via user input (e.g., a touchscreen display, a keyboard, a keypad, a mouse, a button, a switch, a microphone, a camera, and/or the like). Additionally or alternatively, in some embodiments input interface 310 includes a sensor that senses information (e.g., a global positioning system (GPS) receiver, an accelerometer, a gyroscope, an actuator, and/or the like). Output interface 312 includes a component that provides output information from device 300 (e.g., a display, a speaker, one or more lightemitting diodes (LEDs), and/or the like).

[60] In some embodiments, communication interface 314 includes a transceiver-like component (e.g., a transceiver, a separate receiver and transmitter, and/or the like) that permits device 300 to communicate with other devices via a wired connection, a wireless connection, or a combination of wired and wireless connections. In some examples, communication interface 314 permits device 300 to receive information from another device and/or provide information to another device. In some examples, communication interface 314 includes an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi® interface, a cellular network interface, and/or the like.

[61] In some embodiments, device 300 performs one or more processes described herein. Device 300 performs these processes based on processor 304 executing software instructions stored by a computer-readable medium, such as memory 305 and/or storage component 308. A computer-readable medium (e.g., a non-transitory computer readable medium) is defined herein as a non-transitory memory device. A non-transitory memory device includes memory space located inside a single physical storage device or memory space spread across multiple physical storage devices.

[62] In some embodiments, software instructions are read into memory 306 and/or storage component 308 from another computer-readable medium or from another device via communication interface 314. When executed, software instructions stored in memory 306 and/or storage component 308 cause processor 304 to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry is used in place of or in combination with software instructions to perform one or more processes described herein. Thus, embodiments described herein are not limited to any specific combination of hardware circuitry and software unless explicitly stated otherwise.

[63] Memory 306 and/or storage component 308 includes data storage or at least one data structure (e.g., a database and/or the like). Device 300 is capable of receiving information from, storing information in, communicating information to, or searching information stored in the data storage or the at least one data structure in memory 306 or storage component 308. In some examples, the information includes network data, input data, output data, or any combination thereof.

[64] In some embodiments, device 300 is configured to execute software instructions that are either stored in memory 306 and/or in the memory of another device (e.g., another device that is the same as or similar to device 300). As used herein, the term “module” refers to at least one instruction stored in memory 306 and/or in the memory of another device that, when executed by processor 304 and/or by a processor of another device (e.g., another device that is the same as or similar to device 300) cause device 300 (e.g., at least one component of device 300) to perform one or more processes described herein. In some embodiments, a module is implemented in software, firmware, hardware, and/or the like.

[65] The number and arrangement of components illustrated in FIG. 3 are provided as an example. In some embodiments, device 300 can include additional components, fewer components, different components, or differently arranged components than those illustrated in FIG. 3. Additionally or alternatively, a set of components (e.g., one or more components) of device 300 can perform one or more functions described as being performed by another component or another set of components of device 300.

[66] Referring now to FIG. 4, illustrated is an example block diagram of an autonomous vehicle compute 400 (sometimes referred to as an “AV stack”). As illustrated, autonomous vehicle compute 400 includes perception system 402 (sometimes referred to as a perception module), planning system 404 (sometimes referred to as a planning module), localization system 406 (sometimes referred to as a localization module), control system 408 (sometimes referred to as a control module), and database 410. In some embodiments, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included and/or implemented in an autonomous navigation system of a vehicle (e.g., autonomous vehicle compute 202f of vehicle 200). Additionally, or alternatively, in some embodiments perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included in one or more standalone systems (e.g., one or more systems that are the same as or similar to autonomous vehicle compute 400 and/or the like). In some examples, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included in one or more standalone systems that are located in a vehicle and/or at least one remote system as described herein. In some embodiments, any and/or all of the systems included in autonomous vehicle compute 400 are implemented in software (e.g., in software instructions stored in memory), computer hardware (e.g., by microprocessors, microcontrollers, application-specific integrated circuits [ASICs], Field Programmable Gate Arrays (FPGAs), and/or the like), or combinations of computer software and computer hardware. It will also be understood that, in some embodiments, autonomous vehicle compute 400 is configured to be in communication with a remote system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114, a fleet management system 1 16 that is the same as or similar to fleet management system 1 16, a V2I system that is the same as or similar to V2I system 1 18, and/or the like).

[67] In some embodiments, perception system 402 receives data associated with at least one physical object (e.g., data that is used by perception system 402 to detect the at least one physical object) in an environment and classifies the at least one physical object. In some examples, perception system 402 receives image data captured by at least one camera (e.g., cameras 202a), the image associated with (e.g., representing) one or more physical objects within a field of view of the at least one camera. In such an example, perception system 402 classifies at least one physical object based on one or more groupings of physical objects (e.g., bicycles, vehicles, traffic signs, pedestrians, and/or the like). In some embodiments, perception system 402 transmits data associated with the classification of the physical objects to planning system 404 based on perception system 402 classifying the physical objects.

[68] In some embodiments, planning system 404 receives data associated with a destination and generates data associated with at least one route (e.g., routes 106) along which a vehicle (e.g., vehicles 102) can travel along toward a destination. In some embodiments, planning system 404 periodically or continuously receives data from perception system 402 (e.g., data associated with the classification of physical objects, described above) and planning system 404 updates the at least one trajectory or generates at least one different trajectory based on the data generated by perception system 402. In some embodiments, planning system 404 receives data associated with an updated position of a vehicle (e.g., vehicles 102) from localization system 406 and planning system 404 updates the at least one trajectory or generates at least one different trajectory based on the data generated by localization system 406.

[69] In some embodiments, localization system 406 receives data associated with (e.g., representing) a location of a vehicle (e.g., vehicles 102) in an area. In some examples, localization system 406 receives LiDAR data associated with at least one point cloud generated by at least one LiDAR sensor (e.g., LiDAR sensors 202b). In certain examples, localization system 406 receives data associated with at least one point cloud from multiple LiDAR sensors and localization system 406 generates a combined point cloud based on each of the point clouds. In these examples, localization system 406 compares the at least one point cloud or the combined point cloud to two-dimensional (2D) and/or a three-dimensional (3D) map of the area stored in database 410. Localization system 406 then determines the position of the vehicle in the area based on localization system 406 comparing the at least one point cloud or the combined point cloud to the map. In some embodiments, the map includes a combined point cloud of the area generated prior to navigation of the vehicle. In some embodiments, maps include, without limitation, high- precision maps of the roadway geometric properties, maps describing road network connectivity properties, maps describing roadway physical properties (such as traffic speed, traffic volume, the number of vehicular and cyclist traffic lanes, lane width, lane traffic directions, or lane marker types and locations, or combinations thereof), and maps describing the spatial locations of road features such as crosswalks, traffic signs or other travel signals of various types. In some embodiments, the map is generated in real-time based on the data received by the perception system.

[70] In another example, localization system 406 receives Global Navigation Satellite System (GNSS) data generated by a global positioning system (GPS) receiver. In some examples, localization system 406 receives GNSS data associated with the location of the vehicle in the area and localization system 406 determines a latitude and longitude of the vehicle in the area. In such an example, localization system 406 determines the position of the vehicle in the area based on the latitude and longitude of the vehicle. In some embodiments, localization system 406 generates data associated with the position of the vehicle. In some examples, localization system 406 generates data associated with the position of the vehicle based on localization system 406 determining the position of the vehicle. In such an example, the data associated with the position of the vehicle includes data associated with one or more semantic properties corresponding to the position of the vehicle.

[71] In some embodiments, control system 408 receives data associated with at least one trajectory from planning system 404 and control system 408 controls operation of the vehicle. In some examples, control system 408 receives data associated with at least one trajectory from planning system 404 and control system 408 controls operation of the vehicle by generating and transmitting control signals to cause a powertrain control system (e.g., DBW system 202h, powertrain control system 204, and/or the like), a steering control system (e.g., steering control system 206), and/or a brake system (e.g., brake system 208) to operate. In an example, where a trajectory includes a left turn, control system 408 transmits a control signal to cause steering control system 206 to adjust a steering angle of vehicle 200, thereby causing vehicle 200 to turn left. Additionally, or alternatively, control system 408 generates and transmits control signals to cause other devices (e.g., headlights, turn signal, door locks, windshield wipers, and/or the like) of vehicle 200 to change states.

[72] In some embodiments, perception system 402, planning system 404, localization system 406, and/or control system 408 implement at least one machine learning model (e.g., at least one multilayer perceptron (MLP), at least one convolutional neural network (CNN), at least one recurrent neural network (RNN), at least one autoencoder, at least one transformer, and/or the like). In some examples, perception system 402, planning system 404, localization system 406, and/or control system 408 implement at least one machine learning model alone or in combination with one or more of the above-noted systems. In some examples, perception system 402, planning system 404, localization system 406, and/or control system 408 implement at least one machine learning model as part of a pipeline (e.g., a pipeline for identifying one or more objects located in an environment and/or the like).

[73] Database 410 stores data that is transmitted to, received from, and/or updated by perception system 402, planning system 404, localization system 406 and/or control system 408. In some examples, database 410 includes a storage component (e.g., a storage component that is the same as or similar to storage component 308 of FIG. 3) that stores data and/or software related to the operation and uses at least one system of autonomous vehicle compute 400. In some embodiments, database 410 stores data associated with 2D and/or 3D maps of at least one area. In some examples, database 410 stores data associated with 2D and/or 3D maps of a portion of a city, multiple portions of multiple cities, multiple cities, a county, a state, a State (e.g., a country), and/or the like). In such an example, a vehicle (e.g., a vehicle that is the same as or similar to vehicles 102 and/or vehicle 200) can drive along one or more drivable regions (e.g., single-lane roads, multi-lane roads, highways, back roads, off road trails, and/or the like) and cause at least one LiDAR sensor (e.g., a LiDAR sensor that is the same as or similar to LiDAR sensors 202b) to generate data associated with an image representing the objects included in a field of view of the at least one LiDAR sensor.

[74] In some embodiments, database 410 can be implemented across a plurality of devices. In some examples, database 410 is included in a vehicle (e.g., a vehicle that is the same as or similar to vehicles 102 and/or vehicle 200), an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 1 14, a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 1 16 of FIG. 1 , a V2I system (e.g., a V2I system that is the same as or similar to V2I system 118 of FIG. 1 ) and/or the like.

Antenna System Configurations

[75] Referring now to FIG. 5A, illustrated is diagrams of an implementation of an antenna system 500, such as a high-density antenna system. In some embodiments, antenna system 500 is connected with and/or incorporated in a vehicle (e.g., an autonomous vehicle that is the same as, or similar to, vehicle 200 of Fig. 2). In some embodiments, antenna system 500 can be in communication with an AV (e.g., illustrated in FIGS. 2, 3 and 4), an AV system, an AV compute, a remote AV system, a fleet management system, and a V2I system. The antenna system 500, can be used for operating an autonomous vehicle. In some implementation, the antenna system 500, may not be used for operating an autonomous vehicle. For example, the antenna system 500 can be used for operating a vehicle (e.g., to assist a human driver of the vehicle or provide auxiliary information).

[76] The present disclosure relates to an antenna system 500 with a plurality of antennas that can achieve throughput requirements of an autonomous vehicle. In an example, the present disclosure relates to antenna systems 500 that can provide for a high-density antenna system for an autonomous vehicle, such as by utilizing available rooftop space. In some cases, the disclosed antenna systems 500 can use differing radiofrequency (RF) polarity configured for isolating (e.g., electrically, magnetically, or electromagnetically) different antennas. For example, the disclosed antenna system can use an antenna layout having antenna elements where each antenna element has a different polarity (e.g., is oriented differently, has different phase, and/or emits or receives electromagnetic or RF waves with different polarizations) compared to a neighboring antenna to achieve improved electrical, magnetic, and/or electromagnetic isolation (e.g., compared to antennas having similar polarities). In some cases, an antenna element can be 90 degrees out of phase compared to neighboring antenna (e.g., nearest neighbor). For example, an antenna element can be rotated 90 degrees, with respect to the neighboring antenna, around a common axis perpendicular or parallel to a common reference plane (e.g., ground planes of the antenna elements, base planes on which the antenna elements are mounted, or the ground surface). In some embodiments, an antenna element in an antenna layout can emit/receive an RF wave having a linear polarization that is rotated with respect to a linear polarization of an RF wave emitted (or received) by a neighboring antenna element. In some implementations the relative rotation angle between the linear polarizations of the RF waves emitted (or received) by the two antennas can be from 5 to 10 degrees, from 10 to 30 degrees, from 30 to 60 degrees, or from 60 to 90 degrees. In some embodiments, an antenna element in an antenna layout can have a polarity different than (e.g., is rotated relative to) a polarity of a neighboring antenna element (e.g., a nearest neighboring antenna). In some implementations a difference between the polarity of the two antennas can be achieved by orienting the two antennas differently. For example, angle between the two antennas (e.g., angles between their main planes) or the direction of oscillation electric charge or current in the two neighboring antennas can be from 5 to 10 degrees, from 10 to 30 degrees, from 30 to 60 degrees, or from 60 to 90 degrees. In some cases, the two neighboring antennas can have similar or substantially identical designs. Alternatively, in some cases, the two neighboring antennas may have different designs such that they have different polarities or interact with RF waves having different polarizations. In various examples, an electromagnetic wave (e.g., RF wave) received by an antenna can comprise an electromagnetic wave that is converted to a greater output current or voltage by the antenna, compared to other electromagnetic waves incident on the antenna.

[77] The antenna system 500 can use available rooftop space to combine different antennas into a single housing, such as for allowing for good RF performance while still supporting manufacturability and desired design language. A single housing can ease manufacturing considerably. Moreover, a single rooftop housing can be easily upgradeable, such as to support future 5G cellular needs.

[78] The currently used alternative is multiple antenna units, such as multiple stock keeping units (SKUs) packaged around the vehicle, however this leads to difficult integration, logistics, and development as each item needs independent verification and test.

[79] Disclosed herein are examples of an antenna system 500. In one or more embodiments or examples, the antenna system 500 includes a housing 502. In one or more embodiments or examples, the housing 502 includes a plurality of location positioning antennas 504 configured to communicate using a satellite positioning system. In one or more embodiments or examples, the housing 502 includes a plurality of vehicular communication antennas 506 configured to communicate using a vehicular communication system. In one or more embodiments or examples, the housing 502 includes a plurality of telecommunication antennas 508 to communicate using a cellular system. In one or more embodiments or examples, a first telecommunication antenna 508A of the plurality of telecommunication antennas 508 has a first polarity and a second telecommunication antenna 508B of the plurality of telecommunication antennas 508 has a second polarity, the first polarity being different from the second polarity. In some cases, the polarity of an antenna may indicate the polarization of an electromagnetic wave emitted by an antenna. The polarization of the electromagnetic wave corresponds to a direction of oscillation of the electric field (or the magnetic field) of the electromagnetic wave. In some cases, the direction of oscillation of the electric field may be determined relative to a reference plane (e.g., a ground plane of the antenna or the ground surface). In some cases, the direction of oscillation of the electric field can be within a plane perpendicular to a direction of propagation of the electromagnetic wave. In some examples, the direction of oscillation of a first electric field generated by the first telecommunication antenna 508A can be different from the direction of oscillation of a second electric field generated by the second telecommunication antenna 508B. In some cases, the antenna 508B can be one of the nearest neighbors of the antenna 508A.

[80] In some cases, polarity of an antenna may indicate a direction of oscillation of current or electric charge in an antenna and the corresponding electric filed field near the antenna. In some cases, the relative polarity of antenna with respect to an adjacent antenna can depend on a relative orientation between the two antennas. In some cases, a level of electrical, magnetic, and/or electromagnetic isolation between two antennas may depend on their relative polarity.

[81] As described above, the polarity, such as the first polarity and/or the second polarity, can be a direction of oscillations of waves produced by a telecommunication antenna when the telecommunication antenna radiates. In some cases, polarity, such as the first polarity and/or the second polarity, can be a direction of oscillation of the electric and magnetic fields of the electromagnetic waves (e.g., radiofrequency waves, millimeter waves, and the like), produced by a telecommunication antenna. Polarity may be seen as polarization of a telecommunication antenna. In some cases, the terms “polarity” and “polarization” can be used interchangeably. In some cases, polarity or polarization can include a horizontal polarization. In some cases, polarity or polarization can include a vertical polarization. In some case, polarity or polarization can include a combination of a horizontal and vertical polarization (e.g., resulting in a circular or elliptical polarization). For example, an antenna having horizontal polarization can generate a linearly polarized electromagnetic wave whose electric field oscillates in a horizontal direction (e.g., parallel to a reference plane such as a ground plane of the antenna, or the ground surface) and an antenna having vertical polarization can generate a linearly polarized electromagnetic wave whose electric field oscillates in a vertical direction perpendicular to the horizontal direction. In some cases, the horizonal direction can be substantially parallel to a main surface of the antenna (e.g., surface of printed circuit board when the antenna is planar) and the vertical direction can be substantially perpendicular to the horizontal direction. The vertical and horizontal directions can be both perpendicular to the direction of propagation of the electromagnetic wave.

[82] Telecommunication antennas can cause severe interference with one another, when collocated in the same housing. In some embodiments, co-locating multiple antennas (e.g., antennas having substantially similar polarities) in the same housing can cause severe interference between the antennas, the response of the antennas to received electromagnetic waves, and the electromagnetic waves generated by the antennas. It can be advantageous for different antennas (e.g., neighboring or nearest neighboring antennas) that are co-located in the same housing, or otherwise are positioned close to each other, to have different polarities such that interference between these antennas and the corresponding electromagnetic waves received/generated is reduced, or potentially eliminated. For example, it can be advantageous for different telecommunication antennas (TCAs) to have different polarities, to reduce and/or potentially eliminate interference between TCAs included in the same housing.

[83] In some embodiments or examples, the plurality of telecommunication antennas 508, such as the first telecommunication antenna 508A and/or the second telecommunication antenna 508B, are polarized. For example, the of telecommunication antennas 508 have a specific polarity or a specific polarization. Polarization of the plurality of telecommunication antennas 508 (e.g., the polarization of the electromagnetic wave generated or received by these antennas) can include one or more of linear polarization, circular polarization, and elliptical polarization. In one or more embodiments or examples, a first polarity of the first telecommunication antenna 508A is different from the second polarity second telecommunication antenna 508B. In some examples, a difference between the first polarity of the first telecommunication antenna 508A and the second telecommunication antenna 508B may result in reduced interference (or improved isolation) between the first and second telecommunication antennas 508A/508B and/or the electromagnetic waves generated by the first and second telecommunication antennas 508A/508B. [84] In some cases, a distance between at least two telecommunication antennas (e.g., telecommunication antennas 504A and 504B) can be less than 1 OxA, less than 5xA, less than 2A, less than A, or smaller, where A is a wavelength, an average wavelength, or wavelength of a carrier portion, of a signal emitted (or received) by the telecommunication antenna 504A or telecommunication antenna 504B.

[85] In one or more embodiments or examples, the antenna system 500 is incorporated into a vehicle. In one or more embodiments or examples, the antenna system 500 is incorporated into an autonomous vehicle. The antenna system 500 can be incorporated into one or more of a car, a truck, a scooter, a motorcycle, a plane, and a helicopter.

[86] In one or more embodiments or examples, the housing 502 is configured to contain, such as retain, hold, surround, encompass, the plurality of location positioning antennas 504, the plurality of vehicular communication antennas 506, and the plurality of telecommunication antennas 508. The housing 502 can be configured to contain other components as well, such as wiring, circuitry, power supplies, modems, etc. In some embodiments or examples, the housing 502 is attached to a vehicle. In some embodiments or examples, the housing 502 is not attached to a vehicle, such as being separate from the vehicle. The housing 502 may not be detachably attached to a vehicle. The particular size and dimensions of the housing 502 is not limiting. For example, the housing 502 can have a rectangular cross section, a triangular cross section, a circular cross section, and/or a polygonal cross section. In one or more embodiments or examples, the housing 502 is configured to allow signals, such as radiofrequency signals, to pass through the housing 502. In one or more embodiments or examples, the housing 502 includes electrical ports. The housing 502 can be sized to fit on the roof of a vehicle, such as an autonomous vehicle. The particular material of the housing 502 is not limiting. For example, the housing 502 can made from one or more of plastic, polymer, metal, glass, and ceramic.

[87] In one or more embodiments or examples, the antenna system 500 includes a plurality of location positioning antennas 504. In one or more embodiments or examples, the housing 502 contains a plurality of location positioning antennas 504. For example, the antenna system 500 includes a first location positioning antenna 504A and/or a second location positioning antenna 504B. The first location positioning antenna 504A can be a different type of location positioning antenna than the second location positioning antenna 504B. For example, the first location positioning antenna 504A can be a global positioning system (GPS) antenna and the second location positioning antenna 504B can be a global navigation satellite system (GNSS) antenna. The first location positioning antenna 504A can be the same type of location positioning antenna as the second location positioning antenna 504B. For example, both the first location positioning antenna 504A and the second location positioning antenna 504B can be GPS antennas.

[88] In one or more embodiments or examples, the plurality of location positioning antennas 504 are configured to communicate using a satellite positioning system. Having a plurality of location positioning antennas 504 can allow for comparisons of data between location positioning antennas of the plurality of location positioning antennas 504. In one or more embodiments or examples, the plurality of location positioning antennas 504 are configured to obtain location data indicative of a location of the plurality of location positioning antennas 504. In one or more embodiments or examples, the plurality of location positioning antennas 504 can be configured to determine a location of the antenna system 500. For example, when the antenna system 500 is attached to an autonomous vehicle, the plurality of location positioning antennas 504 can be configured to determine a location of the autonomous vehicle.

[89] In one or more embodiments or examples, the antenna system 500 includes two or more location positioning antennas. The plurality of location positioning antennas 504 can be, for example global navigation satellite system (GNSS) antennas. As the antenna system 500 may be located on a roof of a vehicle, the GNSS antennas can communicate with one or more satellites. The location positioning antennas 504 can benefit from a clear line-of-sight, through the sky, to one or more satellites. The location positioning antennas 504 can avoid defilade by a rooftop sensor module. The plurality of location positioning antennas 504 can include one or more of a global positioning system (GPS) antennas, a BeiDou antennas, a Globalnaya Navigazionnaya Sputnikovaya Sistema (GLONASS) antennas, Galileo antennas, and/or the like.

[90] In one or more embodiments or examples, the antenna system 500 includes a plurality of vehicular communication antennas 506. The housing 502 can contain a plurality of vehicular communication antennas 506. In one or more embodiments or examples, the antenna system 500 can include two or more vehicular communication antennas. For example, the antenna system 500 includes a first vehicular communication antenna 506A. In one or more embodiments or examples, the antenna system 500 includes a second vehicular communication antenna 506B. In one or more embodiments or examples, the first vehicular communication antenna 506A is a different type of vehicular communication antenna than the second vehicular communication antenna 506B. For example, the first vehicular communication antenna 506A can be a vehicle-to- everything (V2X) antenna and the second vehicular communication antenna 506B can be a vehicle-to-vehicle (V2V) antenna. In one or more embodiments or examples, the first vehicular communication antenna 506A is the same type of vehicular communication antenna than the second vehicular communication antenna 506B. For example, both the first vehicular communication antenna 506A and the second vehicular communication antenna 506B can be vehicle-to-everything (V2X) antennas. Having a plurality of vehicular communication antennas 506 can allow for comparisons between vehicular communication antennas of the plurality of vehicle positioning antennas 506.

[91] In one or more embodiments or examples, the plurality of vehicular communication antennas 506 are a part of, or form part of, a vehicular communication system. The plurality of vehicular communication antennas may be vehicle-to-everything (V2X) antennas. The plurality of vehicular communication antennas may include one or more vehicle-to-vehicle (V2V) antennas, vehicle-to-infrastructure (V2I) antennas and/or vehicle-to-pedestrian (V2P) antennas. A vehicular communication antenna may be an antenna configured to communicate using a vehicular communication system, e.g., communication device 202e discussed with respect to FIG. 2. In one or more embodiments or examples, the vehicular communication system may be different from the telecommunication system used for the telecommunication antennas. In one or more embodiments or examples, the vehicular communication system may be different from the satellite positioning system used for the location positioning antennas. The plurality of vehicular communication antennas 506 may be configured to communicate, such as transmit data, and/or receive data, to and from other connectable devices and/or equipment within a particular area. [92] In one or more embodiments or examples, the antenna system 500 includes a plurality of telecommunication antennas 508. In one or more embodiments or examples, the housing 502 contains a plurality of telecommunication antennas 508. The antenna system 500 can include 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 25, 30, 35, 40, 45, 50 telecommunication antennas (TCAs) or any number of TCAs between these vales or larger values. In one or more embodiments or examples, the plurality of telecommunication antennas 508 are configured to transmit, receive, and/or obtain telecommunication data. In one or more embodiments or examples, the plurality of telecommunication antennas 508 are configured to transmit, receive, and/or obtain data from one or more of a network node, a base station, and a network. For example, the antenna system 500 includes a first telecommunication antenna 508A. In one or more embodiments or examples, the antenna system 500 includes a second antenna. In one or more embodiments or examples, the first telecommunication antenna 508A is a different type of telecommunication antenna than the second telecommunication antenna 508B. For example, the first telecommunication antenna 508A can be a long-term evolution (LTE) antenna and the second telecommunication antenna 508B can be a 4G antenna. In one or more embodiments or examples, the first telecommunication antenna 508A is the same type of telecommunication antenna than the second telecommunication antenna 508B. For example, both the first telecommunication antenna 508A and the second telecommunication antenna 508B can be 4G antennas.

[93] In one or more embodiments or examples, the plurality of telecommunication antennas 508 are one or more of a long term evolution (LTE) antenna, a 4G antenna, a 5G antenna, a millimeter- wave antenna, a new radio (NR) antenna and 6G antenna. The plurality of telecommunication antennas 508 can be upgraded, and the particular type of antenna is not limiting. The plurality of telecommunication antennas 508 can be configured to function, such as transmit, receive, and/or obtain data, with one or more networks, such as a cellular network. The particular network is not limiting. In one or more embodiments or examples, the plurality of telecommunication antennas 508 are configured to cover a frequency spectrum, such as ranging from 600 MHz to 6000 MHz, such as a full frequency spectrum. However, the spectrum is not limiting and other frequencies and frequency ranges may be used (e.g., broader ranges, narrower ranges, or higher frequencies). In one or more embodiments or examples, each antenna of the plurality of telecommunication antennas 508 can be configured to cover a portion of the frequency spectrum. In one or more embodiments or examples, each antenna of the plurality of telecommunication antennas 508 can be configured to cover the same frequency spectrum. Antennas of the plurality of telecommunication antennas 508 can be configured to cover some overlapping portions of the frequency spectrum. In some cases, at least two telecommunication antennas of the plurality of communication antennas 508 may emit/receive signals (e.g., RF waves) having overlapping frequency bandwidths. For example, the first telecommunication antenna 504A can be configured to emit/receive a first signal having a first frequency bandwidth and the second telecommunication antenna 504B can be configured to emit/receive a second signal having a second frequency bandwidth, wherein the first frequency bandwidth at least partially overlaps with the second frequency bandwidth. Additionally, in some cases, radiation patterns of the first and the second telecommunications antennas can at least partially overlap. In some cases, the first and the second telecommunications antennas can be nearest neighbors (e.g., no other antenna element is disposed between them). In some cases, a distance between two nearest neighboring antennas can be less than 10x , less than 5x , less than 2X, less than , or smaller, where is a wavelength, an average wavelength, or wavelength of a carrier portion, of a signal emitted (or received) by these telecommunication antennas.

[94] In one or more embodiments or examples, the plurality of telecommunication antennas 508 are cellular antennas. The cellular antenna can be seen as an antenna configured to communicate via a cellular system and/or a cellular network. The cellular system can include one or more of: a long-term evolution (LTE) system, a 4G system, a 5G system, a millimeter- wave system, a new radio (NR) system and 6G system.

[95] In one or more embodiments or examples, an antenna of the plurality of telecommunication antennas 508 may have a different polarity than another antenna of the plurality of telecommunication antennas 508. In one or more embodiments or examples, each of the plurality of telecommunication antennas 508 may have a different polarity than all other telecommunication antennas of the plurality of telecommunication antennas 508. In one or more embodiments or examples, each of the plurality of telecommunication antennas 508 may have a different polarity than adjacent telecommunication antennas of the plurality of telecommunication antennas 508. Thus, in some cases, each of the plurality of telecommunication antennas 508 may emit an electromagnetic wave having a different polarization compared to a polarization of an electromagnetic wave emitted by an adjacent telecommunication antenna (a nearest neighboring antenna).

[96] Signals (e.g., electromagnetic waves), such as radiofrequency signals (e.g., RF waves), transmitted, emitted, and/or produced by any one of the telecommunication antennas 508 of the plurality of telecommunication antennas 508, can be polarized (e.g., linearly, circularly, or elliptically polarized). The difference between the polarity of the telecommunication antennas 508 and/or the polarization of the signals emitted/received by these antennas, can allow the antenna system 500 to transmit a first data carried by a first carrier frequency from a first telecommunications antenna (such as antenna 508A) without interfering with a second data carried by a second carrier frequency emitted by a second telecommunication antenna (such as antenna 508B). In some cases, the first data and the second data can be different or the same data. In some cases, the first carrier frequency can be substantially equal to the second carrier frequency. In some cases, a difference between the first carrier frequency and the second carrier frequency is such that the bandwidth so the resulting data modulated first and second carries at least partially overlap.

[97] In one or more embodiments or examples, the plurality of telecommunication antennas 508 are polarized by spatially separating the antennas of the plurality of telecommunication antennas 508. In one or more embodiments or examples, the relative polarization of the adjacent antennas of the plurality of telecommunication antennas 508 are configured by adjusting or selecting the angles between antennas of the plurality of telecommunication antennas 508, such as the angles between respective transverse axis (e.g., an axis perpendicular to a direction of propagation of the signal emitted by an antenna) of any two telecommunication antennas. In one or more embodiments or examples, the plurality of telecommunication antennas 508 are polarized by changing the orientation between antennas of the plurality of telecommunication antennas 508, such as the orientation of one telecommunication antenna with respect to another telecommunication antenna.

[98] In one or more embodiments or examples, different antennas of the plurality of telecommunication antennas 508 can be configured to generate signals having different polarization to reduce interference between adjacent antennas. In some cases, two adjacent telecommunication antennas 508 (e.g., having similar or substantially identical designs) can be configured to emit signals having different polarizations by adjusting the relative orientations between transverse axis of the two telecommunication antennas. Additionally, or alternatively, two adjacent telecommunication antennas 508 can have different designs such that they emit signals having different polarizations. In some cases, different polarizations can include different polarizations with respect to a common reference plane (e.g., a horizontal plane perpendicular to a main surface of the antenna, parallel to a ground plane of the antenna, or parallel to ground surface).

[99] For example, a first telecommunication antenna 508A of the plurality of telecommunication antennas 508 can have a first polarity and a second telecommunication antenna 508B of the plurality of telecommunication antennas 508 can have a second polarity. The first polarity is different from the second polarity. In other words, the first polarity is not the same as the second polarity. Stated differently, a first polarization of a first signal emitted by the first telecommunication antenna 508A has an orientation or direction that is not parallel to the orientation or direction of a second polarization of a second signal emitted by the second telecommunication antenna 508B. In one or more embodiments or examples, the plurality of telecommunication antennas 508 includes a third telecommunication antenna having a third polarity. The third polarity can be different from the second polarity and/or the first polarity. In some examples, the third polarity can be the same polarity as one of the second polarity and the first polarity.

[100] In one or more embodiments or examples, adjacent telecommunication antennas of the plurality of telecommunication antennas 508 have alternating polarities. Adjacent telecommunication antennas of the plurality of telecommunication antennas 508 can be telecommunication antennas that are closest together. An adjacent antenna may be a nearest antenna. A telecommunication antenna may have multiple adjacent telecommunication antennas. A telecommunication antenna may have a single adjacent telecommunication antenna. For example, a first telecommunication antenna 508A is adjacent to a second telecommunication antenna 508B in that the second telecommunication antenna 508B is arranged next to the first telecommunication antenna 508A.

[101] For example, the first telecommunication antenna 508A is adjacent to the second telecommunication antenna 508B. For example, the first telecommunication antenna 508A and the second telecommunication antenna 508B, which are adjacent, are 90 degrees out of phase. The first telecommunication antenna 508A can have a first polarity and the second telecommunication antenna 508B can have a second polarity, where the first polarity is 90 degrees out of phase with the second polarity. An alternating polarity between adjacent telecommunication antennas of a sequence or series of antennas may be seen as each antenna having the same degree out of phase from an adjacent antenna (as illustrated in FIG. 6A and FIG. 6B).

In some cases, the first telecommunication antenna 508A and the second telecommunication antenna 508B, which are adjacent, can generate electromagnetic waves having polarization that are 90 degrees rotated with respect to each other. In some such cases, each antenna having the same degree or amount of difference in polarity with respect to an adjacent antenna (as illustrated in FIG. 6A and FIG. 6B).

[102] In one or more embodiments or examples, the first telecommunication antenna 508A has a transverse axis in a first plane. In one or more embodiments or examples, the second telecommunication antenna 508B has a transverse axis in a second plane. In one or more embodiments or examples, the first antenna plane and the second antenna plane form an angle between 75 degrees and 105 degrees. In one or more embodiments or examples, the first plane has a first normal to the first plane and the second plane has a second normal to the second plane, wherein the angle formed between the first plane and the second plane is an angle between the first normal and the second normal. In some examples, the transverse axis can be parallel to a ground plane of the antenna or parallel to the PCB on which the antenna element is formed.

[103] In one or more embodiments or examples, the first telecommunication antenna 508A emits linearly polarized signals having a polarization along a first direction in a first plane and the second telecommunication antenna 508B can emit linearly polarized signals having a polarization along a second direction in a second plane. In some cases, the emitted waves by the first and second telecommunication antenna 508A/508B can propagate along the same propagation direction. In some such cases, an angle between the first and second planes can be from 0 degrees to 90 degrees. In one or more embodiments or examples, the first plane has a first normal to the first plane and the second plane has a second normal to the second plane, wherein the angle formed between the first plane and the second plane is an angle between the first normal and the second normal.

[104] In one or more embodiments or examples, the first plane and the second plane form an angle between 80 degrees and 100 degrees. In one or more embodiments or examples, the first plane and the second plane form an angle between 85 degrees and 95 degrees. In one or more embodiments or examples, the first plane and the second plane form an angle of 90 degrees. In other words, the first plane can be orthogonal to the second plane. In one or more embodiments or examples, the first telecommunication antenna 508A is arranged to be 90 degrees out of phase from the second telecommunication antenna 508B. In one or more embodiments or examples, the first telecommunication antenna 508A is arranged to be between 75 degrees and 105 degrees out of phase from the second telecommunication antenna 508B.

[105] FIG. 5B illustrates an example embodiment of the first telecommunication antenna 508A adjacent to the second telecommunication antenna 508B. In some cases, the first and second telecommunication antennas 508A, 508B, can be nearest neighbors. In this example, the first telecommunication antenna 508A emits a first linearly polarized signal (e.g., a linearly polarized electromagnetic wave) along a first propagation direction 514A and the second telecommunication antenna 508B emits a second linearly polarized signal along a second propagation direction 514B parallel or substantially parallel to the first propagation direction 514A. In some cases, the first electric field 51 OA of the first signal may oscillate within a first plane 512A and the second electric field 51 OB of the second signal may oscillate within a second plane 512B. In some cases, the first and the second planes 512A and 512B can be substantially perpendicular to each other. In some cases, the first and the second planes 512A and 512B can be substantially parallel to the first propagation direction 514A and the second propagation direction 514B. In some examples, at least one of the two adjacent antennas may not emit a linearly polarized signal. In some cases, a first antenna may emit a first elliptically polarized signal and a second antenna adjacent to the first antenna may emit a second elliptically polarized signal. In some cases, a the first elliptically polarized signal may be rotated with respect to the second elliptically polarized signal by an angle between 70 degrees and 120 degrees.

[106] In one or more embodiments or examples, the plurality of telecommunication antennas 508 include a plurality of telecommunication antenna pairs. In one or more embodiments or examples, the plurality of telecommunication antennas 508 does not include a plurality of telecommunication antenna pairs. In one or more embodiments or examples, a telecommunication antenna pair includes a main antenna and a diversity antenna. The main antenna and the diversity antenna may be in communication, such as connected or combined. A main antenna can be used for communicating signals. A diversity antenna may be used for reception only (such as downlink only) or transmission only (such as uplink only). A radio transceiver can be configured to process signals from main antenna data and/or the diversity antenna. The main antenna and the diversity antenna of the pair of antennas can be connected to a radio transceiver. The radio transceiver can be arranged outside the housing or inside the housing.

[107] In one or more embodiments or examples, the plurality of telecommunication antennas includes one or more telecommunication antenna configured for one or more reception only, transmission only, and transmission and reception. In one or more embodiments or examples, each antenna of a pair of antennas of the plurality of telecommunication antenna pairs has the same polarity.

[108] A pair of antennas can also be called as an antenna pair, such as a telecommunication antenna pair. A main antenna of the plurality of telecommunication antenna pairs may have a first polarity and a diversity antenna of the plurality of telecommunication antennas 508 may have the same first polarity. In one or more embodiments or examples, each pair of antennas of the plurality of telecommunication antennas 508 has a different polarity.

[109] In one or more embodiments or examples, a first pair of antennas of the plurality of telecommunication antennas 508 has a first polarity and a second pair of antennas of the plurality of telecommunication antennas 508 has a second polarity, the first polarity being different from the second polarity. In one or more embodiments or examples, a first main antenna and a first diversity antenna of a first pair of antennas of the plurality of telecommunication antennas 508 has a first polarity and a second main antenna and a second diversity antenna of a second pair of antennas of the plurality of telecommunication antennas 508 has a second polarity, the first polarity being different from the second polarity.

[110] In one or more embodiments or examples, the plurality of telecommunication antennas 508 include Multiple Input Multiple Output telecommunication antennas. Multiple Input Multiple Output (MIMO) telecommunication antennas can be used for increasing a capacity of a radio link. For example, multiple transmission and/or reception antennas can be used to exploit multipath propagation. For example, MIMO telecommunication antennas can be used to send and receive more than one signal over the same radio channel, such as simultaneously or close to simultaneously. A main antenna of an antenna pair of the plurality of telecommunication antennas may be a MIMO antenna.

[111] In one or more embodiments or examples, an isolation parameter indicative of isolation between at least two telecommunication antennas of the plurality of telecommunication antennas 508 is at least of 20dB. The isolation parameter can indicate a degree of isolation between two telecommunication antennas. The isolation parameter can indicate a degree of isolation between two telecommunication antennas which are adjacent and optionally not forming part of the same pair. An isolation parameter indicative of isolation between at least two telecommunication antennas of the plurality of telecommunication antennas 508 can be at least one or more of 20dB, 25dB, 30dB, 35dB, 40dB, 45dB, 50dB, 55 dB, 60dB, or any values between these values or larger.

[112] An isolation parameter indicative of isolation between at least two adjacent telecommunication antennas of the plurality of telecommunication antennas 508 can be at least one or more of 25dB, 30dB, 35dB, 40dB, 45dB, 50dB, 55 dB, 60dB, or any values between these values or larger.

[113] An isolation parameter indicative of isolation between each two adjacent telecommunication antennas of the plurality of telecommunication antennas 508 can be at least one or more of 25dB, 30dB, 35dB, 40dB, 45dB, 50dB, 55 dB, 60dB, or any values between these values or larger.

[114] In one or more embodiments or examples, the isolation parameter is indicative of an isolation between a first telecommunication antenna 508A and a second telecommunication antenna 508B. The isolation parameter can be indicative of an isolation between a first telecommunication LTE antenna and a second telecommunication LTE antenna. In one or more embodiments or examples, the isolation parameter is indicative of an isolation between a first telecommunication antenna 508A and a second telecommunication antenna 508B of a pair of telecommunication antennas. In one or more embodiments or examples, the isolation parameter is indicative of an isolation between a main antenna and a diversity antenna of a pair of telecommunication antennas. In one or more embodiments or examples, the isolation parameter is indicative of an isolation between a main LTE antenna and a diversity LTE antenna of a pair of telecommunication antennas.

[115] In one or more embodiments or examples, each location positioning antenna of the plurality of location positioning antennas 504 is connected to a positioning control system with one of the plurality of vehicular communication antennas 506. For example, each location positioning antenna of the plurality of location positioning antennas 504 is operatively coupled to a positioning control system with one of the plurality of vehicular communication antennas 506. As used herein, the term “connecting” can include a physical connection, such as wires and/or other connectors, and/or wireless connection. A connection can allow communication between devices, such as between the plurality of location positioning antennas 504 and the positioning control system.

[116] In one or more embodiments or examples, a first location positioning antenna 504A is connected to a first positioning control system with a first vehicular communication antenna 506A. In one or more embodiments or examples, a second location positioning antenna 504B is connected to a second positioning control system with a second vehicular communication antenna 506B. In one or more embodiments or examples, each location positioning antenna of the plurality of location positioning antennas 504 is connected to a positioning control system in parallel with one of the plurality of vehicular communication antennas 506. The housing 502 may contain the positioning control system. The positioning control system may be located external to the housing 502.

[117] In one or more embodiments or examples, the first telecommunication antenna 508A has a horizontal orientation. In one or more embodiments or examples, the second telecommunication antenna 508B (the nearest neighbor of the first telecommunication antenna 508A) has a vertical orientation. The horizontal orientation can provide the first polarity of the first telecommunication antenna 508A being a horizontal polarization. The vertical orientation can provide the second polarity of the second telecommunication antenna 508B being a vertical polarization. In various embodiments, the horizontal and vertical orientations indicate orientations with respect to a common reference plane of at least two neighboring antennas (e.g., a ground plane, a base plane, or the ground surface).

[118] Further disclosed herein is an autonomous vehicle. The autonomous vehicle can include the antenna system as discussed herein.

[119] An autonomous vehicle is disclosed. In one or more embodiments or examples, the autonomous vehicle includes a housing. In one or more embodiments or examples, the housing includes a plurality of location positioning antennas configured to communicate using a satellite positioning system. In one or more embodiments or examples, the housing includes a plurality of vehicular communication antennas. In one or more embodiments or examples, the housing includes a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.

[120] In one or more embodiments or examples, adjacent telecommunication antennas of the plurality of telecommunication antennas have alternating polarity.

[121] In one or more embodiments or examples, the first telecommunication antenna has a transverse axis in a first plane. In one or more embodiments or examples, the second telecommunication antenna has a transverse axis in a second plane. In one or more embodiments or examples, the first plane and the second plane form an angle between 75 degrees and 105 degrees. [122] In one or more embodiments or examples, the plurality of telecommunication antennas includes a plurality of telecommunication antenna pairs. In one or more embodiments or examples, an isolation parameter indicative of isolation between at least two telecommunication antennas of the plurality of telecommunication antennas is at least of 20dB.

[123] In one or more embodiments or examples, each location positioning antenna of the plurality of location positioning antennas is connected to a positioning control system with one of the plurality of vehicular communication antennas.

[124] Further disclosed herein is a vehicle. The vehicle can include the antenna system as discussed herein.

[125] In some cases, a vehicle is disclosed. In one or more embodiments or examples, the vehicle includes a housing. In one or more embodiments or examples, the housing includes a plurality of location positioning antennas configured to communicate using a satellite positioning system. In one or more embodiments or examples, the housing includes a plurality of vehicular communication antennas. In one or more embodiments or examples, the housing includes a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.

[126] FIG. 6A illustrates a top-view diagram of an example antenna system 600 according to the disclosure. The antenna system 600 can be a standalone antenna system. The antenna system 600 can be incorporated into an autonomous vehicle, such as the autonomous vehicle 200 shown in FIG. 2. The antenna system 600 can be incorporated into a non-autonomous vehicle. FIG. 6A illustrates simplified connection between different antennas in the antenna system 600. As shown, a housing 603 contains the antenna system 600, such as the antennas of the antenna system 600. In some cases, the housing can have a width (W) and a length (L). In some cases, W and L, can be smaller than 200 cm, smaller than 150 cm, smaller than 100 cm, smaller than 50 cm, smaller than 30 cm, smaller than 20 cm, or smaller than 10 cm. [127] As shown in FIG. 6A, the antenna system 600 can include a plurality of location positioning antennas (LPA) (collectively referred to as 604), such as a first location positioning antenna 604A and a second location positioning antenna 604B.

[128] The antenna system 600 can include a plurality of vehicular communication antennas (VCA) (collectively referred to as 606), such as a first vehicular communication antenna 606A and a second vehicular communication antenna 606B.

[129] Optionally, each location positioning antenna 604A, 604B of the plurality of location positioning antennas is connected to a positioning control system (PCS) 610. In some cases, each vehicular communication antenna 606A, 606B are connected to the positioning control system 610.

[130] The antenna system 600 can include a plurality of telecommunication antennas (TCAs) (collectively referred to as 608). In the example shown, the antenna system 600 includes ten telecommunication antennas 608A, 608B, 608C, 608D, 608E, 608F, 608G, 608H, 608I, and 608J.

[131] Each LPA, VCA, or TCA antenna can be mounted on a base circuit board (shown as dashed lines). In some cases, the antenna may comprise an antenna element (e.g., a planar antenna element) fabricated on a printed circuit board (PCB) that is mounted and is electrically connected to the base circuit board. In some cases, the base circuit board mechanically supports the antenna and provides electrical connection between the antennas and a control circuit that feeds the antenna or received signals from the antenna. In the example shown a main surface of the antenna (or the PCB) can be perpendicular to the base circuit board. In some examples, the main surface of the antenna (or the PCB) can make an acute angle with the base circuit board.

[132] FIG. 6A illustrates an example orientation of the telecommunication antennas (TCAs) 608. As shown, the orientation of each TCA can be rotated with respect to that of orientation of an adjacent TCA (e.g., by 90 degrees). In some cases, the housing 603 can be mounted vertically with respect to the ground surface. In such cases, some TSAs, such as 608A, can have a horizontal orientation (parallel to the ground surface) and some TSAs, such as 608C, can have a vertical orientation. In some examples, the orientation of an antenna may be the same as the orientation of the PCB on which the antenna element is fabricated. [133] In some embodiments, a horizontally oriented antenna can have a first polarity being horizontal and can provide a horizontally polarized signal. In some embodiments a vertically oriented antenna can have a second polarity being vertical and can provide a vertically polarized signal. For example, the first telecommunication antenna 608A of the plurality of telecommunication antennas has a first polarity, shown as horizontal, and the second telecommunication antenna 608C of the plurality of telecommunication antennas has a second polarity, shown as vertical alignment (e.g., with respect to the ground surface). In some cases, a difference between the orientation of the first polarity and the second polarity can be 90 degrees, from 90 degrees to 45 degrees, or less than 45 degrees.

[134] In some cases, a polarity of a telecommunication antenna of the antenna system 600 may have a polarity different from a polarity of one or more nearest neighboring antennas along different directions. For example, the polarity of the telecommunication antenna 608A can be different from the polarity of the polarity of the telecommunication antenna 608D that is its nearest neighbor in the vertical direction and from the polarity of the telecommunication antenna 608C that is its nearest neighbor in the horizontal direction. In the example shown, the polarity of the telecommunication antenna 608A is rotated 90 degrees with respect to its nearest neighboring antennas. In some cases, the distance between a telecommunication antenna (e.g., TCA1 608A) and at least one of its nearest neighboring antennas (e.g., TCA4 608D or TCA3 608C) can be smaller than 1 Ox . less than 5x , less than 2 , less than X, or smaller, where X can be a wavelength, an average wavelength, or wavelength of a carrier portion, of a signal, emitted by the telecommunication antenna. In some cases, a bandwidth of a signal emitted by a telecommunication antenna (e.g., TCA1 608A) and at least one of its nearest neighboring antennas (e.g., TCA4 608D or TCA3 608C) can be at least partially overlapping. Adjacent telecommunication antennas of the plurality of telecommunication antennas have alternating polarity, as shown in FIG. 6A. For example, telecommunication antenna 608G has two adjacent telecommunication antennas, 608E and 608F. Telecommunication antenna 608G has a vertical polarity whereas telecommunication antennas 608E, 608F have horizontal polarity. Telecommunication antenna 608G can be 90 degrees rotated with respect to adjacent telecommunication antennas, 608E and 608F.

[135] In some embodiments, the plurality of telecommunication antennas can comprise at least one telecommunication antenna pair. For example, as shown in FIG. 6A, an antenna pair can include telecommunication antenna 608A and telecommunication antenna 608B. In some examples, each telecommunication antenna, 608A, 608B, of the pair of antennas can have the same or substantially the polarity, e.g., a horizontal polarity as shown in FIG. 6A. In some cases, the telecommunication antenna 608A may serve as a main antenna and the telecommunication antenna 608B may serve as the corresponding diversity antenna of the antenna pair. In some cases, e.g., when the antenna system 600 is at certain locations or orientation, the strength of the signal generated by the diversity antenna can be greater than that of the main antenna. In some such cases, the diversity antenna may be configured as a backup antenna to prevent signal loss.

[136] FIG. 6B illustrates a top-view diagram of another example antenna system 602 having a slightly different arrangement of TCAs compared to the antenna system 600. The antenna system 602 can be a standalone antenna system and can be incorporated into an autonomous vehicle, such as the autonomous vehicle 200 shown in FIG. 2. The antenna system 602 may comprise one or more features described above with respect to antenna system 600.

[137] In some examples, the TCA1 -TCA4 and TCA5-TCA8 of the antenna systems 600 and 602 may be electrically connected to two separate circuits or control systems, and TCA9 and TCA10, can be electrically connected to a third circuit or control system.

[138] FIGS. 7A-7B, 8A-8B, and 9A-9J are example measured radiation patterns of example TCA, LPA, and VCAs of an antenna system, such as the antenna system 600 and 602 shown in FIG. 6A and FIG. 6B. In some examples, the radiation patterns represent angular distribution of the radiated electromagnetic energy (e.g., in a horizontal plane). Different radiation pattens shown for each antenna (e.g., with different line patterns) correspond to different frequencies (e.g., carrier frequencies).

[139] FIGS. 7A-7B are illustrate example measured radiation patterns of two example location positioning antennas (LPAs) at a polar angle (theta) of 45° used in an example implementation of the antenna system disclosed herein. FIG. 7A illustrates a radiation pattern diagram of location positing antenna 604A. FIG. 7B illustrates a radiation pattern diagram of location positing antenna 604B. In some cases, the LPAs may have active gains.

[140] FIGS. 8A-8B illustrate example radiation pattern diagrams for two example vehicular communication antennas of an example implementation of the antenna system disclosed herein, measured at a polar angle of 60°. FIG. 8A illustrates a radiation pattern diagram of vehicular communication antenna 606A. FIG. 8B illustrates a radiation pattern diagram of vehicular communication antenna 606B.

[141] FIGS. 9A-9J illustrate example radiation pattern diagrams for telecommunication antennas of an example implementation of an antenna system disclosed herein, measured at a polar angle of 60°. FIG. 9A illustrates a radiation pattern diagram of telecommunication antenna 608A. FIG. 9B illustrates a radiation pattern diagram of telecommunication antenna 608B. FIG. 9C illustrates a radiation pattern diagram of telecommunication antenna 608C. FIG. 9D illustrates a radiation pattern diagram of telecommunication antenna 608D. FIG. 9E illustrates a radiation pattern diagram of telecommunication antenna 608E. FIG. 9F illustrates a radiation pattern diagram of telecommunication antenna 608F. FIG. 9G illustrates a radiation pattern diagram of telecommunication antenna 608G. FIG. 9H illustrates a radiation pattern diagram of telecommunication antenna 608H. FIG. 9I illustrates a radiation pattern diagram of telecommunication antenna 608I. FIG. 9J illustrates a radiation pattern diagram of telecommunication antenna 608J. The radiation patterns measured for adjacent telecommunication antennas (TCAs) show if relative polarities of the two neighboring TCAs are not sufficiently different, the radiations emitted by neighboring TCAs in the antenna systems 600 or antenna systems 602 (e.g., TCA1 608A and TCA3 608C, or TCA1 608A and TCA4 608D) can interfere. As shown in FIG. 6A and FIG. 6B, TCA1 608A is rotated by 90 degrees relative to TCA3 608C, and TCA4 608D (resulting in different polarities) to avoid such interference.

[142] In the foregoing description, aspects and embodiments of the present disclosure have been described with reference to numerous specific details that can vary from implementation to implementation. Accordingly, the description and drawings are to be regarded in an illustrative rather than a restrictive sense. The sole and exclusive indicator of the scope of the invention, and what is intended by the applicants to be the scope of the invention, is the literal and equivalent scope of the set of claims that issue from this application, in the specific form in which such claims issue, including any subsequent correction. Any definitions expressly set forth herein for terms contained in such claims shall govern the meaning of such terms as used in the claims. In addition, when we use the term “further comprising,” in the foregoing description or following claims, what follows this phrase can be an additional step or entity, or a sub-step/sub-entity of a previously- recited step or entity.

Example Embodiments

[143] Example embodiments described herein have several features, no single one of which is indispensable or solely responsible for their desirable attributes. A variety of example systems and methods are provided below.

[144] Also disclosed are systems, autonomous vehicles, and vehicles according to any of the following items:

[145] Example 1 . An antenna system comprising: a housing comprising: a plurality of location positioning antennas configured to communicate using a satellite positioning system; a plurality of vehicular communication antennas configured to communicate using a vehicular communication system; and a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.

[146] Example 2. The antenna system of Example 1 , wherein the plurality of telecommunication antennas are cellular antennas.

[147] Example 3. The antenna system of any of the previous Examples, wherein adjacent telecommunication antennas of the plurality of telecommunication antennas have alternating polarity. [148] Example 4. The antenna system of any of the previous Examples, wherein the first telecommunication antenna has a transverse axis in a first plane, wherein the second telecommunication antenna has a transverse axis in a second plane, wherein the first plane and the second plane form an angle between 75 degrees and 105 degrees.

[149] Example 5. The antenna system of any of the previous Examples, wherein the first telecommunication antenna is arranged to be 90 degrees out of phase from the second telecommunication antenna.

[150] Example 6. The antenna system of any of the previous Examples, wherein the plurality of telecommunication antennas comprises a plurality of telecommunication antenna pairs.

[151] Example 7. The antenna system of Example 6, wherein each antenna of a pair of antennas of the plurality of telecommunication antenna pairs has the same polarity.

[152] Example 8. The antenna system of Example 6 or 7, wherein each pair of antennas of the plurality of telecommunication antennas has a different polarity.

[153] Example 9. The antenna system of any of the previous Examples, wherein the plurality of telecommunication antennas comprises Multiple Input Multiple Output telecommunication antennas.

[154] Example 10. The antenna system of any of the previous Examples, wherein an isolation parameter indicative of isolation between at least two telecommunication antennas of the plurality of telecommunication antennas is at least of 20dB.

[155] Example 1 1 . The antenna system of any of the previous Examples, wherein each location positioning antenna of the plurality of location positioning antennas is connected to a positioning control system with one of the plurality of vehicular communication antennas.

[156] Example 12. The antenna system of Example 1 1 , wherein each location positioning antenna of the plurality of location positioning antennas is connected to a positioning control system in parallel with one of the plurality of vehicular communication antennas.

[157] Example 13. The antenna system of any of the previous Examples, wherein the first telecommunication antenna has a horizontal orientation; and wherein the second telecommunication antenna has a vertical orientation. [158] Example 14. The antenna system of any of the previous Examples, wherein the first telecommunication antenna emits a first signal having a first frequency bandwidth and the second telecommunication antenna emits a second signal having a second frequency bandwidth, wherein first frequency bandwidth at least partially overlaps with the second frequency bandwidth.

[159] Example 15. The antenna system of any of the previous Examples, wherein a distance between the first telecommunication antenna and the second telecommunication antenna is less than 5 times the wavelength of a signal emitted by the first telecommunication antenna.

[160] Example 16. An autonomous vehicle comprising: a housing comprising: a plurality of location positioning antennas configured to communicate using a satellite positioning system; a plurality of vehicular communication antennas; and a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.

[161] Example 17. The autonomous vehicle of Example 16, wherein adjacent telecommunication antennas of the plurality of telecommunication antennas have alternating polarity.

[162] Example 18. The autonomous vehicle of any one of Examples 16-17, wherein the first telecommunication antenna has a transverse axis in a first plane, wherein the second telecommunication antenna has a transverse axis in a second plane, wherein the first plane and the second plane form an angle between 75 degrees and 105 degrees.

[163] Example 19. The autonomous vehicle of any one of Examples 14-16, wherein the plurality of telecommunication antennas comprises a plurality of telecommunication antenna pairs. [164] Example 20. The autonomous vehicle of any one of Examples 14-17, wherein an isolation parameter indicative of isolation between at least two telecommunication antennas of the plurality of telecommunication antennas is at least of 20dB.

[165] Example 21 . The autonomous vehicle of any one of Examples 14-18, wherein each location positioning antenna of the plurality of location positioning antennas is connected to a positioning control system with one of the plurality of vehicular communication antennas.

[166] Example 22. A vehicle comprising: a housing comprising: a plurality of location positioning antennas configured to communicate using a satellite positioning system; a plurality of vehicular communication antennas; and a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.

[167] Example 23. An antenna system comprising: a housing comprising: a plurality of location positioning antennas configured to communicate using a satellite positioning system; a plurality of vehicular communication antennas configured to communicate using a vehicular communication system; and a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity different from a second polarity of a second telecommunication antenna, wherein the second telecommunication antennas is a nearest neighbor of the first telecommunication antenna.

[168] Example 24. The antenna system of Example 23, wherein a first orientation the first telecommunication antenna is different from a second orientation of the second telecommunication antenna. [169] Example 25. The antenna system of Example 24, wherein a first orientation is rotated by 90 degrees with respect to the second orientation.

[170] Example 26. The antenna system of Example 23, wherein a first polarization of a first RF wave emitted by the first telecommunication antenna is different from the second polarization of a second RF wave emitted by the second telecommunication antenna, with respect to a common reference polarization plane.

[171] Example 27. The antenna system of Example 26, the common polarization plane is the ground surface.

[172] Example 28. The antenna system of Example 27, wherein the first and second polarizations are linear.

[173] Example 29. The antenna system of Example 28, wherein the first polarization is horizontal and the second polarization is vertical.

[174] Example 30. The antenna system of Example 28, wherein the first polarization is rotated with respect to the second polarization by an angle less than 90 degrees.

[175] Example 31. The antenna system of Example 23, wherein the first and second polarities are configured to isolate the first and second communications antennas by at least 20 dB.

[176] Example 32. The antenna system of Example 26, wherein a first bandwidth of the first RF wave at least partially overlaps with a second bandwidth of the second RF wave.

[177] Example 33. The antenna system of Example 26, wherein a distance between the first and second telecommunication antennas is less than 5 times a wavelength of a signal emitted by the first telecommunication antenna.

Claims

WHAT IS CLAIMED IS:

1 . An antenna system comprising: a housing comprising: a plurality of location positioning antennas configured to communicate using a satellite positioning system; a plurality of vehicular communication antennas configured to communicate using a vehicular communication system; and a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.

2. The antenna system of claim 1 , wherein the plurality of telecommunication antennas are cellular antennas.

3. The antenna system of any of the previous claims, wherein adjacent telecommunication antennas of the plurality of telecommunication antennas have alternating polarity.

4. The antenna system of any of the previous claims, wherein the first telecommunication antenna has a transverse axis in a first plane, wherein the second telecommunication antenna has a transverse axis in a second plane, wherein the first plane and the second plane form an angle between 75 degrees and 105 degrees.

5. The antenna system of any of the previous claims, wherein the first telecommunication antenna is arranged to be 90 degrees out of phase from the second telecommunication antenna.

6. The antenna system of any of the previous claims, wherein the plurality of telecommunication antennas comprises a plurality of telecommunication antenna pairs.

7. The antenna system of claim 6, wherein each antenna of a pair of antennas of the plurality of telecommunication antenna pairs has the same polarity.

8. The antenna system of claim 6 or 7, wherein each pair of antennas of the plurality of telecommunication antennas has a different polarity.

9. The antenna system of any of the previous claims, wherein the plurality of telecommunication antennas comprises Multiple Input Multiple Output telecommunication antennas.

10. The antenna system of any of the previous claims, wherein an isolation parameter indicative of isolation between at least two telecommunication antennas of the plurality of telecommunication antennas is at least of 20dB.

1 1 . The antenna system of any of the previous claims, wherein each location positioning antenna of the plurality of location positioning antennas is connected to a positioning control system with one of the plurality of vehicular communication antennas.

12. The antenna system of claim 1 1 , wherein each location positioning antenna of the plurality of location positioning antennas is connected to a positioning control system in parallel with one of the plurality of vehicular communication antennas.

13. The antenna system of any of the previous claims, wherein the first telecommunication antenna has a horizontal orientation; and wherein the second telecommunication antenna has a vertical orientation.

14. The antenna system of any of the previous claims, wherein the first telecommunication antenna emits a first signal having a first frequency bandwidth and the second telecommunication antenna emits a second signal having a second frequency bandwidth, wherein first frequency bandwidth at least partially overlaps with the second frequency bandwidth.

15. The antenna system of any of the previous claims, wherein a distance between the first telecommunication antenna and the second telecommunication antenna is less than 5 times the wavelength of a signal emitted by the first telecommunication antenna.

16. An autonomous vehicle comprising: a housing comprising: a plurality of location positioning antennas configured to communicate using a satellite positioning system; a plurality of vehicular communication antennas; and a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.

17. The autonomous vehicle of claim 16, wherein adjacent telecommunication antennas of the plurality of telecommunication antennas have alternating polarity.

18. The autonomous vehicle of any one of claims 16-17, wherein the first telecommunication antenna has a transverse axis in a first plane, wherein the second telecommunication antenna has a transverse axis in a second plane, wherein the first plane and the second plane form an angle between 75 degrees and 105 degrees.

19. The autonomous vehicle of any one of claims 16-18, wherein the plurality of telecommunication antennas comprise a plurality of telecommunication antenna pairs.

20. The autonomous vehicle of any one of claims 16-19, wherein an isolation parameter indicative of isolation between at least two telecommunication antennas of the plurality of telecommunication antennas is at least of 20dB.

21 . The autonomous vehicle of any one of claims 16-20, wherein each location positioning antenna of the plurality of location positioning antennas is connected to a positioning control system with one of the plurality of vehicular communication antennas.

22. A vehicle comprising: a housing comprising: a plurality of location positioning antennas configured to communicate using a satellite positioning system; a plurality of vehicular communication antennas; and a plurality of telecommunication antennas configured to communicate using a cellular system, wherein a first telecommunication antenna of the plurality of telecommunication antennas has a first polarity and a second telecommunication antenna of the plurality of telecommunication antennas has a second polarity, the first polarity being different from the second polarity.