Distributed radar antenna array aperture

Patent metadata

Field	Value
Publication number	US-11762079-B2
Application number	US-202017132071-A
Country	US
Kind code	B2
Filing date	Dec 23, 2020
Priority date	Sep 30, 2020
Publication date	Sep 19, 2023
Grant date	Sep 19, 2023

Abstract

A vehicle radar system utilizes multiple radar sensors having overlapping fields of view to effectively synthesize a distributed radar antenna array aperture from the outputs of the multiple radar sensors and effectively enhance one or more of angular resolution, detection range and signal to noise ratio beyond that supported by any of the radar sensors individually.

First claim

What is claimed is:

1. A method, comprising:
receiving first radar data from a first multiple input multiple output (MIMO) radar sensor disposed on a vehicle, the first MIMO radar sensor including one or more transmit antennas and one or more receive antennas forming a first radar sub-array, and the first radar data including first point data identifying one or more points sensed by the first MIMO radar sensor and first beamforming data from the first radar sub-array;
receiving second radar data from a second MIMO radar sensor disposed on the vehicle, the second MIMO radar sensor having a field of view that overlaps with that of the first MIMO radar sensor and including one or more transmit antennas and one or more receive antennas forming a second radar sub-array, and the second radar data including second point data identifying one or more points sensed by the second MIMO radar sensor and second beamforming data from the second radar sub-array; and
synthesizing a distributed array from the first and second radar sub-arrays by applying a phase correction that compensates for temporal or spatial mismatches between the first and second radar sub-arrays using the first and second point data and the first and second beamforming data and thereafter performing a beamforming operation on one or more points in the first or second point data after the phase correction is applied to refine the one or more points;
wherein the first beamforming data includes an actual beamvector for each of the one or more points sensed by the first MIMO radar sensor and the second beamforming data includes an actual beamvector for each of the one or more points sensed by the second MIMO radar sensor, wherein synthesizing the distributed array further includes identifying one or more correlated points from the first and second point data, and wherein applying the phase correction includes:
generating a set of ideal beamvectors for one of the first and second radar sensors based upon the identified one or more correlated points; and
generating the phase correction by comparing the set of ideal beamvectors to the actual beamvectors in the first and second beamforming data.

2. The method of claim 1 , wherein the first and second MIMO radar sensors operate using separate local oscillators.

3. The method of claim 1 , wherein the first and second MIMO radar sensors operate using separate clocks.

4. The method of claim 1 , wherein the first point data includes a point cloud, the point cloud identifying a position and a velocity for each of the one or more points sensed by the first MIMO radar sensor.

5. The method of claim 1 , wherein generating the set of ideal beamvectors includes, for a first point from the one or more correlated points, calculating a relative phase for each of a plurality of transmitter/receiver pairs, wherein calculating the relative phase for each of the plurality of transmitter/receiver pairs includes, for a first transmitter/receiver pair of the plurality of transmitter receiver pairs, calculating a distance from a first transmitter of the first transmitter/receiver pair to the first point and to a first receiver of the first transmitter/receiver pair, and wherein comparing the set of ideal beamvectors to the actual beamvectors in the first and second beamforming data includes:
correlating the set of ideal beamvectors with the actual beamvectors in the first and second beamforming data to estimate a phase correction; and
removing a linear phase shift component from the estimated phase correction.

6. The method of claim 5 , wherein correlating the set of ideal beamvectors with the actual beamvectors in the first and second beamforming data to estimate the phase correction includes determining an estimated disparity between the set of ideal beamvectors and the actual beamvectors in the first and second beamforming data and calculating a phase gradient of the estimated disparity to remove a random phase offset.

7. The method of claim 6 , wherein performing the beamforming operation refines a position of at least one of the one or more points in the first or second point data.

8. The method of claim 6 , wherein performing the beamforming operation determines an additional point.

9. The method of claim 6 , wherein identifying the one or more correlated points is performed using a nearest neighbor spatial matching algorithm based on range, Doppler and angle of arrival correspondence between points in the first and second point data.

10. A vehicle radar system, comprising:
a memory;
one or more processors; and
program code resident in the memory and configured upon execution by the one or more processors to:
receive first radar data from a first multiple input multiple output (MIMO) radar sensor disposed on the vehicle, the first MIMO radar sensor including one or more transmit antennas and one or more receive antennas forming a first radar sub-array, and the first radar data including first point data identifying one or more points sensed by the first MIMO radar sensor and first beamforming data from the first radar sub-array, wherein the first beamforming data is generated by performing a first beamforming operation in the first MIMO radar sensor;
receive second radar data from a second MIMO radar sensor disposed on the vehicle, the second MIMO radar sensor having a field of view that overlaps with that of the first MIMO radar sensor and including one or more transmit antennas and one or more receive antennas forming a second radar sub-array, and the second radar data including second point data identifying one or more points sensed by the second MIMO radar sensor and second beamforming data from the second radar sub-array, wherein the second beamforming data is generated by performing a second beamforming operation in the second MIMO radar sensor; and
synthesize a distributed array from the first and second radar sub-arrays by applying a phase correction that compensates for temporal or spatial mismatches between the first and second radar sub-arrays using the first and second point data and the first and second beamforming data and thereafter performing a repeated beamforming operation on one or more points in the first or second point data after the phase correction is applied to refine the one or more points.

11. The vehicle radar system of claim 10 , further comprising the first MIMO radar sensor.

12. The vehicle radar system of claim 11 , wherein the one or more processors are disposed in the first MIMO radar sensor.

13. The vehicle radar system of claim 11 , further comprising the second MIMO radar sensor, wherein the one or more processors are disposed external of each of the first and second MIMO radar sensors.

14. The vehicle radar system of claim 10 , wherein the first point data includes a point cloud, the point cloud identifying a position and a velocity for each of the one or more points sensed by the first MIMO radar sensor.

15. The vehicle radar system of claim 10 , wherein the first beamforming data includes an actual beamvector for each of the one or more points sensed by the first MIMO radar sensor and the second beamforming data includes an actual beamvector for each of the one or more points sensed by the second MIMO radar sensor.

16. The vehicle radar system of claim 15 , wherein the program code is configured to synthesize the distributed array further by identifying one or more correlated points from the first and second point data, and wherein the program code is configured to apply the phase correction by:
generating a set of ideal beamvectors for one of the first and second radar s

Assignees

• Aurora Innovation Inc
• Aurora Operations Inc

Inventors

• CROUCH Stephen
• Li Chunshu

Classifications

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S13/426 Primary

  Scanning radar, e.g. 3D radar (G01S13/66 takes precedence) · CPC title

• G01S13/878

  Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence) · CPC title

• G01S13/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) · CPC title

• G01S13/584

  adapted for simultaneous range and velocity measurements · CPC title