Radar system for use in a vehicle comprising a rotary joint where a non-rotational unit is fixed to the vehicle and a rotational unit includes antennas configured for use with radar signals

Patent metadata

Field	Value
Publication number	US-11688917-B2
Application number	US-202117450098-A
Country	US
Kind code	B2
Filing date	Oct 6, 2021
Priority date	Oct 20, 2017
Publication date	Jun 27, 2023
Grant date	Jun 27, 2023

Abstract

A vehicle having a communication system is disclosed. The system includes two electrical couplings, coupled by way of a rotary joint having a bearing waveguide. Each electrical coupling includes an interface waveguide configured to couple to external signals. Each electrical coupling also includes a waveguide section configured to propagate electromagnetic signals between the interface waveguide and the bearing waveguide of the rotary joint. Additionally, the rotary joint is configured to allow one electrical coupling to rotate with respect to the other electrical coupling. An axis of rotation of the rotary joint is defined by a center of a portion of the waveguides. Yet further, the rotary joint allows electromagnetic energy to propagate between the waveguides of the electrical couplings.

First claim

What is claimed is:

1. A radar system comprising:
a non-rotational unit having a first waveguide section, wherein the non-rotational unit is coupled in a fixed position to a vehicle;
a rotational unit having a second waveguide section; and
a rotary joint having a bearing waveguide located in a center portion of a rotational bearing of the rotary joint,
wherein the rotational bearing is configured to allow the rotational unit to rotate with respect to the non-rotational unit,
wherein the bearing waveguide is aligned with the first waveguide section and the second waveguide section such that electromagnetic signals are able to propagate between the rotational unit and the non-rotational unit, and
wherein the rotational unit includes one or more antennas configured to transmit the electromagnetic signals as radar signals.

2. The radar system of claim 1 , wherein the first waveguide section, the second waveguide section, and the bearing waveguide are circular waveguides.

3. The radar system of claim 1 , wherein the rotational unit further includes one or more additional antennas configured to receive radar reflections from an environment such that the radar reflections propagate as the electromagnetic signals from the rotational unit to the non-rotational unit, and wherein the radar reflections correspond to reflections of the radar signals.

4. The radar system of claim 1 , wherein the one or more antennas comprises:
a plurality of radar antennas arranged into one or more antenna arrays.

5. The radar system of claim 1 , wherein the non-rotational unit includes a printed circuit board.

6. The radar system of claim 1 , further comprising:
a bearing mount section configured to mount to the center portion of the rotational bearing.

7. The radar system of claim 6 , wherein the bearing mount section comprises a flange portion, wherein the flange portion is adapted to interface with the first waveguide section and the second waveguide section, and wherein the flange portion aligns the first waveguide section and the second waveguide section with the bearing waveguide.

8. The radar system of claim 7 , wherein the first waveguide section and the second waveguide section are in mechanical contact with the flange portion.

9. The radar system of claim 1 , wherein the first waveguide section and the second waveguide section are separated from the bearing waveguide by an air gap.

10. The radar system of claim 1 , wherein the first waveguide section, the second waveguide section, and the bearing waveguide are configured to propagate the electromagnetic wage signals at a frequency between 77 and 81 Gigahertz.

11. The radar system of claim 1 , wherein the bearing waveguide is configured to rotate with respect to the first waveguide section.

12. The radar system of claim 1 , wherein the bearing waveguide is configured to rotate with respect to the second waveguide section.

13. A vehicle comprising:
a computing device;
a radar unit couple to the vehicle, wherein the radar unit comprises:
a non-rotational unit having a first waveguide section, wherein the non-rotational unit is coupled to the vehicle at a fixed position;
a rotational unit having a second waveguide section; and
a rotary joint having a bearing waveguide located in a center portion of a rotational bearing of the rotary joint,
wherein the rotational bearing is configured to allow the rotational unit to rotate with respect to the non-rotational unit,
wherein the bearing waveguide is aligned with the first waveguide section and the second waveguide section such that electromagnetic signals are able to propagate between the rotational unit and the non-rotational unit, and
wherein the rotational unit includes one or more antennas configured to transmit the electromagnetic signals as radar signals.

14. The vehicle of claim 13 , wherein the rotational unit further includes one or more additional antennas configured to receive radar reflections from an environment such that the radar reflections propagate as the electromagnetic signals from the rotational unit to the non-rotational unit, and wherein the radar reflections correspond to reflections of the radar signals.

15. The vehicle of claim 13 , wherein the one or more antennas of each radar unit comprises:
a plurality of radar antennas arranged into one or more antenna arrays.

16. A method comprising:
coupling electromagnetic signals between a non-rotational unit and a rotational unit via a rotary joint,
wherein the non-rotational unit includes a first waveguide section, the rotational unit includes a second waveguide section, and the rotary joint includes a bearing waveguide located in a center portion of a rotational bearing of the rotary joint,
wherein the rotational bearing is configured to allow the rotational unit to rotate with respect to the non-rotational unit and the non-rotational unity is coupled to a vehicle at a fixed position, and
wherein the bearing waveguide is aligned with the first waveguide section and the second waveguide section such that electromagnetic signals are able to propagate between the rotational unit and the non-rotational unit; and

causing one or more antennas to transmit the electromagnetic signals as radar signals, wherein the one or more antennas are located on the rotational unit.

17. The method of claim 16 , further comprising:
receiving reflection signals corresponding to the radar signals via the one or more antennas; and
coupling the reflection signals as the electromagnetic signals propagates between the rotational unit and the non-rotational unit via the rotary joint.

18. The method of claim 16 , further comprising:
causing the rotational unit to adjust a field of view of the one or more antennas.

Assignees

• Waymo Llc

Inventors

• Li Zhe
• Izadian Jamal
• Droz Pierre-Yves
• Wang Min
• Lenius Samuel
• Karplus Paul
• Purvis Kyla

Classifications

• H01P5/08

  for linking dissimilar lines or devices (H01P1/16, H01P5/04 take precedence; linking lines of the same kind but with different dimensions H01P5/02) · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title

• H01Q1/32

  Adaptation for use in or on road or rail vehicles · CPC title

• G01S13/06

  Systems determining position data of a target · CPC title

• H01P3/12

  Hollow waveguides (H01P3/20 takes precedence) · CPC title