Vehicle radar sensor utilizing non-uniform frequency modulated continuous wave (FMCW) chirps

Patent metadata

Field	Value
Publication number	US-11536801-B1
Application number	US-202117512521-A
Country	US
Kind code	B1
Filing date	Oct 27, 2021
Priority date	Oct 27, 2021
Publication date	Dec 27, 2022
Grant date	Dec 27, 2022

Abstract

A vehicle radar sensor utilizes Frequency Modulated Continuous Wave (FMCW) radar signals that incorporate non-uniform FMCW chirps having chirp profiles that differ from one another to sense one or more parameters of one or more objects in a field of view of the radar sensor. The chirp profiles may differ from one another in various manners, e.g., based on starting frequency, repetition interval, duration and/or slope, and among other advantages, may be used to enhance sensing of various parameters such as range, Doppler/velocity and/or angle.

First claim

What is claimed is:

1. A radar sensor for a vehicle, comprising: a radar transmitter configured to transmit a first radar signal, the first radar signal including a frame associated with a plurality of frequency modulated continuous wave (FMCW) chirps, wherein the frame is a coherent processing interval, wherein the plurality of FMWC FMCW chirps includes a plurality of uniform FMCW chirps having a same default chirp profile and a plurality of non-uniform FMCW chirps having chirp profiles that differ from one another and from the default chirp profile based at least upon differing starting frequency and repetition interval;
a radar receiver configured to receive a second radar signal that is a reflected signal of the first radar signal; and
control logic coupled to the radar receiver and configured to process the second radar signal, based on the uniform and non-uniform FMCW chirps in the frame, to sense one or more parameters of an object in a field of view of the radar transmitter.

2. The radar sensor of claim 1 , wherein the uniform FMCW chirps and the non-uniform FMCW chirps are interleaved with one another such that the frame includes alternating uniform and non-uniform FMCW chirps.

3. The radar sensor of claim 1 , wherein the control logic is configured to process the second radar signal to sense one or more parameters of a plurality of objects in a field of view of the radar transmitter, and wherein the control logic uses the uniform and non-uniform FMCW chirps in the frame to sense the one or more parameters of the plurality of objects by:
performing a range transformation with fast-time samples of the second radar signal to generate a coarse resolution data cube including coarse resolution range parameters for the plurality of objects and arranged in a plurality of range bins in a fast-time dimension, wherein the range transformation comprises a Fast Fourier Transform (FFT) transformation;
upsampling the generated coarse resolution data cube along the fast-time dimension to generate an upsampled data cube;
compensating for phase variations due to starting frequency variations in the non-uniform FMCW chirps along a slow-time dimension of the upsampled data cube for each of the plurality of range bins to enhance range resolution in the upsampled data cube; and
performing a Doppler transformation on the upsampled data cube based upon starting frequency and repetition interval variations in the non-uniform FMCW chirps to generate Doppler parameters for the plurality of objects, wherein the Doppler transformation comprises a Discrete Fourier Transform (DFT) transformation.

4. The radar sensor of claim 1 , wherein the control logic uses the uniform and non-uniform FMCW chirps in the frame to sense the one or more parameters of the object by:
generating a uniform data cube by performing a range transformation with fast-time samples of the second radar signal and using the uniform FMCW chirps; and
detecting a plurality of candidate objects in the uniform data cube.

5. The radar sensor of claim 1 , wherein the chirp profiles of the non-uniform FMCW chirps differ based upon starting frequency such that a total frequency band of the frame is split into a plurality of sub-bands defined by the non-uniform FMCW chirps, and wherein the control logic uses the non-uniform FMCW chirps in the frame to sense the one or more parameters of the object by subsampling on range within the total frequency band of the frame.

6. The radar sensor of claim 1 , wherein the control logic uses the non-uniform FMCW chirps in the frame to sense the one or more parameters of the object by subsampling on Doppler over a duration of the frame.

7. The radar sensor of claim 1 , wherein the control logic uses the uniform and non-uniform FMCW chirps in the frame to sense the one or more parameters of the object by:
generating uniform and non-uniform data cubes by performing a range transformation with fast-time samples of the second radar signal and using the uniform and non-uniform FMCW chirps;
detecting a plurality of candidate objects in the uniform data cube, including performing a Doppler Fast Fourier Transform (FFTs) transformation; and
performing finer range calculation on the detected plurality of candidate objects by compensating phase variation along slow time due to carrier frequency variation using the non-uniform data cube.

8. The radar sensor of claim 7 , wherein the control logic further uses the uniform and non-uniform FMCW chirps in the frame to sense the one or more parameters of the object by performing Doppler disambiguation using a Discrete Fourier Transform (DFT) transformation with the non-uniform data cube to resolve one or more Doppler ambiguities introduced in the uniform data cube.

9. The radar sensor of claim 8 , wherein detecting the plurality of candidate objects in the uniform data cube further includes performing a beamforming FFT transformation, and wherein the control logic further uses the uniform and non-uniform FMCW chirps in the frame to sense the one or more parameters of the object by performing beamforming disambiguation using a DFT transformation with the non-uniform data cube to resolve one or more angle ambiguities introduced in the uniform data cube.

10. The radar sensor of claim 7 , wherein generating the uniform and non-uniform data cubes includes performing Multiple-Input Multiple-Output (MIMO) demodulation after performing the range transformation.

11. The radar sensor of claim 7 , wherein the uniform data cube only includes uniform chirps and the non-uniform data cube only includes non-uniform chirps.

12. The radar sensor of claim 7 , wherein the uniform data cube only includes uniform chirps and the non-uniform data cube only includes uniform and non-uniform chirps.

13. A method of operating a radar sensor for a vehicle, comprising: transmitting a first radar signal, the first radar signal including a frame associated with a plurality of frequency modulated continuous wave (FMCW) chirps, wherein the frame is a coherent processing interval, wherein the plurality of FMCW chirps includes a plurality of uniform FMCW chirps having a same default chirp profile and a plurality of non-uniform FMCW chirps having chirp profiles that differ from one another and from the default chirp profile based at least upon differing starting frequency and repetition interval; and
receiving a second radar signal that is a reflected signal of the first radar signal; and
processing the second radar signal, based on the uniform and non-uniform FMCW chirps in the frame, to sense one or more parameters of an object in a field of view of the radar sensor.

14. An autonomous vehicle control system, comprising: a radar transmitter configured to transmit a first radar signal, the first radar signal including a frame associated with a plurality of frequency modulated continuous wave (FMCW) chirps, wherein the frame is a coherent processing interval, wherein the plurality of FMCW chirps includes a plurality of uniform FMCW chirps having a same default chirp profile and a plurality of non-uniform FMCW chirps having chirp profiles that differ from one another and from the default chirp profile based at least upon differing starting frequency and repetition interval;
a radar receiver configured to receive a second radar signal that is a reflected signal of the first radar signal; and
control logic coupled to the radar receiver and configured to process the second radar signal, based on the uniform and non-uniform FMCW chirps in the frame, to sense one or more parameters of an object in a field of view of the radar transmitter.

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Assignees

• Aurora Operations Inc

Inventors

• Li Chunshu
• CROUCH Stephen

Classifications

• G01S7/356

  involving particularities of FFT processing · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• G01S13/347

  using more than one modulation frequency · CPC title

• G01S7/35 Primary

  Details of non-pulse systems · CPC title

• G01S7/4056

  specially adapted to FMCW · CPC title