Methods and systems for radar waveform diversity

Patent metadata

Field	Value
Publication number	US-12196843-B2
Application number	US-202217804240-A
Country	US
Kind code	B2
Filing date	May 26, 2022
Priority date	May 26, 2022
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

Example embodiments relate to techniques for implementing radar waveform diversity. A technique may involve a radar unit transmitting radar signals into an environment of a vehicle based on a code sequence that indicates a ramp direction and a phase shift for each pulse in a pulse used by the radar unit and receiving radar reflections from the environment. In some instances, the radar unit may leverage antennas in a multiple input multiple output (MIMO) arrangement to further add diversity to transmissions according to spatial code in the code sequence. The technique can further involve using a demodulator to map the environment based on the radar reflections and controlling the vehicle based on the mapping. In some instances, the code sequence is received from a system that is wirelessly providing orthogonal code sequences to multiple emitters.

First claim

What is claimed is:

1. A method comprising:
causing, by a computing device positioned on a vehicle, a first radar unit to transmit radar signals into an environment based on a first code sequence and a second radar unit to transmit radar signals into the environment based on a second code sequence, wherein each code sequence indicates a ramp direction and a phase shift for each pulse in a pulse chain used by the first radar unit or the second radar unit for radar signal transmission, and wherein the first code sequence and the second code sequence are different;
receiving, by the computing device and from the first radar unit and the second radar unit, radar reflections representing the environment;
mapping, by the computing device using a demodulator, the environment based on the radar reflections; and
controlling the vehicle based on mapping the environment.

2. The method of claim 1 , wherein causing the first radar unit to transmit radar signals into the environment comprises:
causing the first radar unit to transmit radar signals based on positive ramp directions and negative ramp directions associated with respective pulses in the pulse chain.

3. The method of claim 1 , wherein causing the first radar unit to transmit radar signals into the environment comprises:
causing the first radar unit to transmit radar signals based on positive phase shifts and negative phase shifts associated with respective pulses in the pulse chain.

4. The method of claim 1 , wherein each radar unit comprises a plurality of transmission antennas, and wherein each code sequence further indicates spatial codes associated with respective pulses in the pulse chain.

5. The method of claim 4 , wherein causing the first radar unit to transmit radar signals into the environment comprises:
causing the first radar unit to transmit radar signals using the plurality of transmission antennas based on the spatial codes associated with respective pulses in the pulse chain.

6. The method of claim 1 , wherein mapping, by the computing device using a demodulator, the environment based on the radar reflections comprises:
demodulating a sample of a radar reflection based on the code sequence.

7. The method of claim 1 , wherein causing the first radar unit to transmit radar signals into the environment comprises:
causing the radar unit to transmit frequency modulated continuous wave (FMCW) radar signals.

8. The method of claim 1 , further comprising:
providing, by the computing device, a seed to a remote computing system, wherein the remote computing system is configured to receive respective seeds from a plurality of vehicles and input each seed into a random code generator to produce a plurality of random codes, and wherein the remote computing system is further configured to input the plurality of random codes into an orthogonal code generator configured to generate respective code sequences having orthogonal codes; and
receiving at least the first code sequence or the second code sequence from the remote computing system based on providing the seed to the remote computing system.

9. The method of claim 8 , wherein providing the seed to the remote computing system comprises:
generating the seed based on detecting the vehicle transitioned to an active state from an inactive state, wherein the seed indicates an identification for the vehicle and a current location of the vehicle; and
providing the generated seed to the remote computing system.

10. The method of claim 9 , wherein generating the seed further comprising:
determining a route for the vehicle to navigate; and
responsive to determining the route, generating the seed such that the seed further indicates data representing the route.

11. The method of claim 8 , wherein receiving at least the first code sequence or the second code sequence from the remote computing system comprises:
receiving the first code sequence for use by the first radar unit and the second code sequence for use by the second radar unit.

12. The method of claim 1 , wherein the first radar unit and the second radar unit are forward facing radar units positioned at a front portion of the vehicle.

13. A system comprising:
a first radar unit and a second radar unit coupled to a vehicle; and
a computing device configured to:
cause the first radar unit to transmit radar signals into an environment based on a first code sequence and the second radar unit to transmit radar signals into the environment based on a second code sequence, wherein each code sequence indicates a ramp direction and a phase shift for each pulse in a pulse chain used by the first radar unit or the second radar unit for radar signal transmission;
receive, from the first radar unit and the second radar unit, radar reflections representing the environment;
map, using a demodulator, the environment based on the radar reflections; and
control the vehicle based on mapping the environment.

14. The system of claim 13 , wherein each code sequence indicates positive ramp directions and negative ramp directions associated with respective pulses in the pulse chain, and
wherein each code sequence further indicates positive phase shifts and negative phase shifts associated with respective pulses in the pulse chain.

15. The system of claim 14 , wherein each radar unit comprises a plurality of transmission antennas, and wherein each code sequence further indicates spatial codes associated with respective pulses in the pulse chain.

16. The system of claim 13 , further comprising:
a remote computing system; and
wherein the computing device is further configured to:
provide a seed to a remote computing system, wherein the remote computing system is configured to receive respective seeds from a plurality of vehicles and input each seed into a random code generator to produce a plurality of random codes, and wherein the remote computing system is further configured to input the plurality of random codes into an orthogonal code generator configured to generate respective code sequences having orthogonal codes; and
receive at least the first code sequence or the second code sequence from the remote computing system based on providing the seed to the remote computing system.

17. The system of claim 16 , wherein the computing device is further configured to:
determine that the vehicle transitioned to an active state from an inactive state; and
generate the seed based on the vehicle transitioning to an active state from an inactive state, wherein the seed indicates an identification for the vehicle and a current location of the vehicle.

18. The system of claim 17 , wherein the computing device is further configured to receive the first code sequence for use by the first radar unit and the second code sequence for use by the second radar unit.

19. The system of claim 13 , wherein one or more pairs of consecutive pulses in the pulse chain differ in ramp direction and phase shift.

20. A non-transitory computer-readable medium configured to store instructions, that when executed by a computing system comprising one or more processors, causes the computing system to perform operations comprising:
causing a first radar unit to transmit radar signals into an environment of a vehicle based on a first code sequence and a second radar unit to transmit radar signals into the environment based on a second code sequence, wherein each code sequence indicates a ramp direction and a phase shift for each pulse in a pulse chain used by the first radar unit or

Assignees

• Waymo Llc

Inventors

• Ma Philip
• Perich Filip
• Ramachandran Aravind

Classifications

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S7/0234

  Avoidance by code multiplex · CPC title

• G01S2013/93273

  on the top of the vehicles · CPC title

• H04B2001/6912

  using chirp · CPC title

• H04J13/18

  Allocation of orthogonal codes · CPC title