Patent Grant
11959996
This application claims priority to European Patent Application Number 20155503.4, filed Feb. 4, 2020, the disclosure of which is hereby incorporated by reference in its entirety herein.
The present disclosure relates to a radar device, for example for automotive applications, and a method for operating a radar device.
Radar devices are used in automotive applications to detect and locate target objects such as other vehicles, obstacles or lane boundaries. They may be placed at the front, at the rear or at the sides of a vehicle. Such radar devices usually comprise a signal generator to generate a radar signal, an antenna device for illuminating the target objects with the radar signal and for capturing the radar signal reflected back from the target objects and a signal receiver to analyze the radar signal reflected back from the target objects. The information extracted from the reflected radar signal may then be used for advanced driver's assist system (ADAS) functions, such as emergency brake assist, adaptive cruise control, lane change assist or the like.
One information that may be extracted from the reflected radar signal may be the distance to a target object irradiated by the radar device. For implementing ADAS functions, it is desirable to reliably detect and separate different objects positioned within the field of view of the radar system. Such separation may be realized, inter alia, using the range information provided by the radar system. Increasing the resolution of distance determination or ranging thus contributes to improve the detection efficiency of the radar device.
Accordingly, there is a need to improve the ranging information available from radar devices.
The present disclosure provides a radar device and a method for operating a radar device according to the independent claims. Embodiments are given in the subclaims, the description and the drawings.
In one aspect, the present disclosure is directed at a radar device, for example for automotive applications, comprising a radar circuit, an antenna device and a signal processing device, wherein the radar circuit is configured to transceive a first antenna signal and a second antenna signal, wherein the first antenna signal occupies a first frequency band and the second antenna signal occupies a second frequency band that is separate from the first frequency band, wherein the antenna device is configured to transduce the first antenna signal via a first antenna of the antenna device and the second antenna signal via a second antenna of the antenna device, and wherein the signal processing device comprises a ranging module that is configured to jointly process the first and second antenna signal to determine a distance to a target object irradiated by the antenna device.
The present disclosure is based on the idea that the range resolution of a radar device transmitting within different frequency bands via different antennas may be increased by jointly processing the antenna signals transduced in the individual frequency bands. Typically, the range resolution of a radar device is inversely proportional to the bandwidth of the radar signal emitted by the radar device so that an increased bandwidth leads to a smaller minimum target distance increment that is resolvable by the radar device and thus to an improved range resolution. Typically, the minimum resolvable distance dR is given by
with c being the speed of light and BW being the bandwidth of the radar signal.
The radar circuit of the radar device comprises all parts of the radar device that process the antenna signals at the radar frequency used for illuminating the target objects. The radar circuit thus constitutes a radar front end of the radar device. The radar circuit may comprise a signal generator for generating the antenna signals and a signal receiver for receiving and measuring the antenna signals. The radar circuit may be configured as a transceiver comprising a transmitter, for example the signal generator, and the receiver.
The radar circuit may handle or transceive the antenna signals by generating them at the signal generator based on at least one control signal and/or it may transceive the antenna signals by evaluating or measuring them at the signal receiver to generate at least one data signal. Likewise, the antenna signals may be routed between the radar circuit and the antenna device by sending them from the radar circuit to the antenna device and/or by sending them from the antenna device to the radar circuit.
The signal generator may be configured to generate the antenna signals based on at least one control signal, for example based on at least one digital control signal, that the signal generator receives from a signal processing device of the radar device. For generating the antenna signals from the at least one control signal, the signal generator comprises one or more transmit chains. Each transmit chain is configured to convert one control signal into one transmit radar signal and to output this transmit radar signal to one signal port of the radar circuit that is connected to an antenna port of the antenna device. The transmit radar signals generated by the transmit chains then provide the first and second antenna signal. For example, a first radar signal generated by a first transmit chain may comprise or constitute the first antenna signal and a second radar signal generated by a second transmit chain may comprise or constitute the second antenna signal. In this case, the first and second antenna signal are routed between the radar circuit and the antenna device via separate signal ports of the radar circuit.
Alternatively, a radar signal generated by a single transmit chain may comprise or constitute the first and second antenna signal, for example it may comprise the first antenna signal as a first signal portion and the second antenna signal as a second signal portion. In this case, the first and second antenna signal is routed between the radar circuit and the antenna device via a common signal port of the radar circuit. The radar signal may consist of the first and second signal portion only or it may comprise further signal portions, for example a third signal portion covering a third frequency band.
Each transmit chain may comprise, for example, a digital to analog converter (DAC) that is controlled by the control signal controlling the transmit chain and/or one or several signal control devices that are likewise controlled by the control signal and shape the transmit radar signal generated by the transmit chain. Such signal control devices may be configured as, for example, variable attenuators or amplifiers, variable phase shifters, and/or the like. The signal generator may receive the control signals from the signal processing device of the radar device. The control signals may, for example, be digital control signals.
For generating the at least one data signal from the antenna signals, the signal receiver comprises one or more receive chains. Each receive chain is configured to receive one receive radar signal via a signal port of the radar circuit that is connected to an antenna port of the antenna device, to convert the receive radar signal into one data signal and to output the data signal to the signal processing device. The receive radar signals received by the receive chains then comprise or constitute the first and second antenna signal. For example, a first radar signal received by a first receive chain may comprise or constitute the first antenna signal and a second radar signal received by a second receive chain may comprise or constitute the second antenna signal. In this case, the first and second antenna signal are routed between the antenna device and the radar circuit via separate signal ports of the radar circuit.
Alternatively, a radar signal received by a single receive chain may comprise or constitute the first and second antenna signal, for example, it may comprise the first antenna signal as a first signal portion and the second antenna signal as a second signal portion. In this case, the first and second antenna signal is routed between the radar circuit and the antenna device via a common signal port of the radar circuit. The radar signal may consist of the first and second antenna signal only or it may comprise further antenna signal as a further signal portion covering a third frequency band, for example a third antenna signal as a third signal portion,
Each receive chain may comprise, for example, an analog to digital converter (ADC) that samples the radar signal and generates the data signal outputted by the receive chain and/or one or more signal conditioning devices such as low noise amplifiers, programmable filters, mixers, and/or the like that shape the radar signal prior to sampling. The data signal representing the received radar signal may be a digital data signal.
The radar circuit may be configured to handle several independent radar signals, for example to generate several independent transmit radar signals from several independent control signals and/or to measure several independent receive radar signals to generate several independent data signals. The signal generator may then comprise several transmit chains, one transmit chain for each transmit radar signal and/or the signal receiver may then comprise several receive chains, one receive chain for each receive radar signal. Each transmit chain is configured to generate an individual transmit radar signal from an individual control signal, the individual control signals and transmit radar signals being mutually independent from each other. Likewise each receive chain is configured to measure an individual receive radar signal received from the antenna device and to generate an individual data signal from the respective receive radar signal, the individual receive radar signals and individual data signals being mutually independent from each other.
In general, each radar signal may comprise a multitude of signal portions, in particular more than two signal portions, each signal portion spanning a different frequency band and constituting a separate antenna signal. For example, the radar circuit may comprise three transmit chains and four receive chains, each chain being connected to at least one antenna of the antenna device.
The individual transmit chains are coupled to the antenna device via individual transmit ports of the radar circuit and the individual receive chains are coupled to the antenna device via individual receive ports of the radar circuit. Each transmit port is coupled to one of the transmit chains of the radar circuit and is schematically located between the transmit chain and the antenna device and each receive port is coupled to one of the receive chains of the radar circuit and is schematically located between the receive chain and the antenna device. Each individual transmit port of the radar circuit may therefore be schematically located between the last signal control device of its associated transmit chain and the antenna device. Likewise, each receive port of the radar circuit may be schematically located between the antenna device and the first signal conditioning device of its associated receive chain. The transmit ports and the receive ports constitute signal ports of the radar circuit.
According to the present disclosure, an antenna signal is defined as the signal that is transduced by an individual antenna of the antenna device. Likewise, a radar signal is defined as the signal that is routed via an individual signal port of the radar circuit and that is processed by a single transmit chain or a single receive chain of the radar circuit. One radar signal may comprise a single antenna signal, for example if only one antenna is connected to the signal port routing the radar signal, or it may comprise several antenna signals, such as the first and second antenna signal, for example if more than one antenna, such as the first and second antenna, is connected to a common signal port routing the radar signal. In the latter case, each antenna signal constitutes a separate signal portion of the radar signal.
The individual radar signals and/or individual antenna signals may exhibit individual and mutually independent signal parameters, such as phases, amplitudes, chirps, phase shifts, code sequences, for example binary phase shift codes, and/or the like. The mutually independent signal parameters may constitute an orthogonal and linearly independent set of parameters. The individual and mutually independent signal parameters may amount to separability parameters that ensure separability among the individual radar signals after reception, for example for multiple input multiple output (MIMO) processing. The separability parameters may, for example, employ phase shift keying, for example binary phase shift keying, or phase modulation, for example binary phase modulation, or the like.
The radar circuit may be configured in an integrated circuit. The radar circuit may be configured in this single integrated circuit only or it may be distributed over one or more additional integrated circuits. The integrated circuits may be phase coherently coupled to each other. The integrated circuits may be configured, for example, as monolithic microwave integrated circuits (MMICs). The individual ports of the radar circuit may be physical connection points of one or several integrated circuits of the radar circuit, for example of a MIMIC comprising the radar circuit. They also may be logical or conceptual ports that are located at signal lines between the transmit chains and the antenna device and/or at signal lines between the receive chains and the antenna device, respectively, for example in radar devices, in which individual components of the radar circuit and the antenna device are integrated on a common carrier, like a common substrate.
The antenna device may transduce the antenna signals by converting them into electromagnetic radiation that is emitted towards the target object irradiated by the antenna device and/or it may transduce the antenna signals by receiving electromagnetic radiation scattered back by the target object and by converting the received electromagnetic radiation into the antenna signals. The individual antenna elements of an antenna may be conductively coupled to their respective signal port of the radar circuit. They also may be proximity coupled, for example via conductive or inductive coupling. The individual antennas may be configured as substrate integrated antennas such as microstrip patch antennas or slotted substrate integrated waveguide (SIW) antennas. They also may be configured as end-fire antennas, 3D antennas or metallized plastic antennas.
The first and second antenna of the antenna device differ in at least one antenna parameter so that they create different antenna fields. Such antenna parameters may be, for example, radiation pattern and/or gain and/or directivity and/or polarization and/or antenna position, or the like. The first and second antenna signal may be transduced at different and well defined physical locations on the antenna device that are given, for example, by the respective phase centers of the first and second antenna.
The first antenna is built of a first set of antenna elements that comprises at least one first antenna element and the second antenna is built of a second set of antenna elements that comprises at least one second antenna element. The first and second set of antenna elements may be disjunct so that the first antenna and the second antenna do not comprise any common antenna elements and are spatially completely separate. The first and second sets of antenna elements may also contain one or more common antenna elements, for example, the second antenna may comprise all antenna elements of the first antenna. Finally, the first and second set may be equal so that the first and second antenna are entirely built from common antenna elements. When comprising common antenna elements, different antenna parameters of the first and second antenna, for example different polarizations of the radiation patterns transduced via the common antenna elements, may be realized by different feeding schemes of the common antenna elements.
The individual antenna elements of the antennas may be conductively or proximity coupled to each other. They may be configured as, for example, several individual slots and/or several individual patches. The individual antenna elements may be coupled in series and/or in parallel. For example, the individual antennas may be configured as series fed antenna arrays or as corporate fed antenna arrays.
According to the present disclosure, an antenna of the antenna device is formed by all antenna elements of the antenna device that collectively transduce between a radiation field of the antenna in the far-field region and its associated antenna signal handled by the radar circuit. Such an antenna may comprise a single antenna element or it may be configured as an array antenna that comprises a set of antenna elements that form individual radiating elements of the antenna and coherently transduce between the radiation field and the antenna signal. If the antenna is a receive antenna, the radiation field is an incoming radiation field that is captured by the antenna elements. If the antenna is a transmit antenna, the radiation field is an outgoing radiation field generated by the antenna elements.
The radiation field of an antenna has well-defined instantaneous field parameters in the far-field of the antenna like phase center, frequency, amplitude and the like. Likewise, each antenna has antenna parameters that define the characteristics of the antenna and its radiation field. These antenna parameters may be a radiation pattern, polarization, gain, directivity, location of phase center or antenna position, and the like.
An antenna signal associated with a radiation field of an antenna comprises all signal components that are routed between the radar circuit and the radar device that are transduced by the antenna and thereby represent the radiation field of the antenna. The signal processing device is configured to deduce from the antenna signal field parameters of the radiation field.
In general, the antenna device may comprise multiple sets of antennas, wherein all antennas of the individual sets transduce antenna signals occupying the same frequency band and wherein the frequency bands of the individual sets mutually differ from each other. For example, the antenna device may comprise a first set of antennas transducing in the first frequency band, wherein the first set includes the first antenna, and a second set of second antennas transducing in the second frequency band, wherein the second set includes the second antenna.
The antennas within each individual set of antennas may then transduce individual sets of antenna signals, each antenna signal spanning the frequency band of the corresponding set of antennas. For example, the antenna signals transduced by the antennas of the first set of antennas may constitute a first set of first antenna signals and the antenna signals transduced by the antennas of the second set of antennas may constitute a second set of second antenna signals.
The individual antenna signals occupying the same frequency band may exhibit mutually independent, for example mutually orthogonal, separability parameters that distinguish them from each other. For example, the individual first antenna signals may exhibit individual first separability parameters that distinguish them from each other and the individual second antenna signals may exhibit individual second separability parameters that distinguish them from each other. As all first antenna signals are distinguishable from all second antenna signals by their frequency band, the same values of separability parameters may be used for one of the first antenna signals and one of the second antenna signals.
The radar device may be configured to adaptively activate the first antenna by transceiving the first antenna signal and to adaptively activate the second antenna by transceiving the second antenna signal. Analogously, the radar device may be configured to adaptively activate individual sets of antennas, such as the first and second set of antenna. For example, the radar device may adaptively activate the first or second antenna or the individual sets of antennas, such as the first and second set, depending on a traffic scenario in which the radar device is being used. One such traffic scenario may be, for example, normal driving along a street and another traffic scenario may be, for example, parking. The first antenna or first set of antennas may provide a short-range radar for monitoring traffic within a first distance in front of the car, for example during parking, and the second antenna or second sets of antennas may provide a long-range radar for monitoring traffic within a second distance, for example during normal driving. The second distance may be longer than the first distance, for example by a factor of 2, 5, 10, or 100.
The radar device may be configured to cyclically activate the individual sets of antennas. Alternatively, it may be configured to simultaneously activate the individual sets of antennas.
The radar device may be configured as a continuous wave (CW) radar device and the antenna signals may exhibit a signal modulation that is used for determining the target distance. Such a signal modulation may be a frequency modulation, a phase modulation, or the like. The radar device may therefore be configured as a frequency modulated continuous wave (FMCW) or as a phase modulated continuous wave (PMCW) radar device.
The FMCW radar device may employ simultaneous transmit and receive pulse Doppler (STAR PD) signals. With these STAR PD signals, the first and second signal portion may each comprise a multitude of pulsed frequency sweeps over the first and second frequency band, respectively. The individual frequency sweeps may each exhibit constant slope, for example constant falling linear slope. The signal processing device of the radar device may then be configured to transform each individual sweep into a set of range bins by performing a first Fourier transform, for example a fast Fourier transform, on the individual frequency sweeps. The signal processing device may further be configured to transform the individual range bins into Doppler bins via a second Fourier transform, for example a fast Fourier transform, whereby the second Fourier transform uses, for a given range bin, all signals for that specific range bin from all pulsed sweeps.
The first antenna signal may exhibit a first signal modulation and the second antenna signal may exhibit a second signal modulation. By jointly processing the first and second antenna signal, the signal processing device may evaluate both the first and second signal modulation to determine the distance to the target object. In general, each set of antenna signals transceived by the radar circuit may exhibit an individual signal modulation. The signal processing device may be configured to jointly process a subset of the antenna signals or all antenna signals to determine the distance to the target object. Thereby, the signal processing device may evaluate a subset of the individual signal modulations or all individual signal modulations to determine the distance to the target object.
The propagation delay of the antenna signals between the radar device and the target object may be determined from a modulation difference, such as a frequency or phase difference, between the antenna signals reflected by the target object and a reference signal provided within the radar device. The reference signal may be, for example, the antenna signals that are being transmitted during reception of the reflected antenna signals. To obtain the modulation difference, the signal processing device may be configured to mix the reflected antenna signals with the corresponding reference signals.
If the signal modulation constitutes a frequency modulation, the first antenna signal may exhibit a first frequency modulation that spans the first frequency band and the second antenna signal may exhibit a second frequency modulation that spans the second frequency band, so that the bandwidth of the first frequency modulation equals the first frequency band and the bandwidth of the second frequency modulation equals the second frequency band. The bandwidth of a combined antenna signal that is obtained by jointly processing the first and second antenna signal with the ranging device then spans both the first frequency band and the second frequency band. The second frequency modulation of the second antenna signal may be a frequency shifted version of the first frequency modulation of the first antenna signal so that the instantaneous frequency of the second antenna signal is given by adding the instantaneous frequency of the first antenna signal and a constant frequency shift.
The individual frequency modulations may be cyclically repeated. The radar circuit may be configured to first generate the first antenna signal and to then generate the second antenna signal and the antenna device may be configured to first transduce the first antenna signal and to then transduce the second antenna signal. When cyclically repeating the first and second frequency modulation, the first antenna signal and the second antenna signal may be alternately generated by the radar circuit and subsequently transduced by the antenna device.
The signal processing device may be configured to jointly process the first antenna signal and the second antenna signal by generating a combined antenna signal that spans both the first and second frequency band and comprises the first and second antenna signal. The combined antenna signal may be generated by concatenating the first and second antenna signal. In general, the signal processing device may be configured to jointly process a multitude of antenna signals, for example more than two antenna signals, each antenna signal spanning a different frequency band.
Additionally to jointly process the first and second antenna signal, the signal processing device may be configured to separately process the first and second antenna signal to obtain target information that is only accessible to one of the first and second antennas and not to the other one. The accessibility of such target information may, for example, result from different antenna parameters and/or different antenna fields of the first and second antenna, such as different antenna positions and/or different antenna gains and/or different signal-to-noise ratios of the received antenna signals and/or different antenna fields of view and/or different angular resolutions in azimuthal and/or elevation direction and/or different polarizations or the like. In general, the signal processing device may be configured to separately process the individual antenna signals of a multitude of antenna signals to obtain target information that is only accessible to one of the antenna signals and not the others.
The first and second antenna signal may have a frequency gap in between them. The frequency gap may amount to at least a tenth, at least a fifth, at least a third or at least one half of the frequency span of the first and/or second frequency band. The frequency gap may amount to at most a tenth, at most a fifth, at most a third or at most one half of the frequency span of the first and/or second frequency band. Alternatively, the first frequency band may directly adjoin the second frequency band so that the first and second antenna signal exhibit no frequency gap in between them.
The individual antenna signals are oscillating electromagnetic signals, such as microwave signals. The radar frequencies of the antenna signals may be at least 1 GHz, at least 30 GHz, at least 60 GHz or at least 70 GHz. They may be at most 200 GHz, at most 100 GHz, at most 85 GHz, at most 60 GHz or at most 40 GHz. The radar frequencies of the antenna signals may lie, for example between 31 GHz and 37 GHz or between 75 GHz and 85 GHz, or between 76 GHz and 81 GHz. The first frequency band may lie between 75 GHz and 78 GHz, for example between 75.5 GHz and 77.5 GHz, and the second frequency band may lie between 79 GHz and 82 GHz, for example between 79.5 GHz and 81.5 GHz.
The radar device may be used in automotive applications to detect and locate target objects such as other vehicles, obstacles or lane boundaries. Such target objects may be placed at the front, at the rear or at the sides of a vehicle
The radar device may be mounted to a vehicle. The radar device may be configured as an interior radar device that captures target reflection inside a passenger compartment of the vehicle or as an exterior radar device that captures target reflections from the outer environment of the vehicle, for example as a front radar or a side radar or a rear radar. The radar device may be part of a vehicle control system and may be connected to a control device of the vehicle control system. The control device may be configured to perform advanced driver's assist functions, such as adaptive cruise control, emergency brake assist, lane change assist or autonomous driving, based on the data signals received from the radar device. The control device and/or the signal processing device of the radar device may be configured as programmable logic devices, such as programmable logic controllers, FPGAs, ASICs or microprocessors.
According to an embodiment, the signal processing device is configured to separately process the first and second antenna signal to detect from the first antenna signal target reflections via a first propagation channel and to detect from the second antenna signal target reflections via a second propagation channel. By separately processing the first and second antenna signal, the target information obtained by the radar device may be enhanced.
The first and second propagation channel may have different propagation channel properties like polarization and/or antenna location, such as location of transmit antenna and/or location of receive antenna, and/or path length towards the target object and/or field of view, for example in elevation direction and/or in azimuthal direction, and/or radiation direction, and/or detection range, and/or signal gain, and/or the like. The signal processing device may process the data from the individual propagation channels to construct, for example, individual virtual antenna arrays, for example MIMO arrays.
If the antenna device comprises multiple sets of antennas transducing in individual frequency bands, for example the first set of antennas transducing in the first frequency band and the second set of antennas transducing in the second frequency band, the signal processing device may separately process the individual sets of antenna signals to construct separate virtual antenna arrays. For example, the signal processing device may process all first antenna signals transduced via the first antennas to form a first antenna array and it may process all second antenna signals transduced via the second antennas to form an independent second antenna array. Each pair of transmit and receive antenna within the individual sets may realize a separate propagation channel. The signal processing device may resolve the individual propagation channels within the different sets of antennas using the separability parameters of the individual antenna signals transduced via the antennas of the corresponding set. The signal processing device may determine the propagation and/or reflection properties of the individual propagation channels by comparing the antenna signals that are transmitted and received via the antennas associated with the individual propagation path.
According to an embodiment, the first antenna signal comprises a first frequency sweep within the first frequency band and the second antenna signal comprises a second frequency sweep within the second frequency band.
The first frequency sweep may span the first frequency band and/or the second frequency sweep may span the second frequency band. The first and/or second frequency sweep may be a linear frequency sweep. The first and/or second frequency sweep may have a single sweep direction, such as a rising direction and/or a falling direction. They also may have a changing sweep direction, like a triangular sweep direction. The first and second antenna signals may comprise frequency sweeps having the same slopes or they may consist of linear frequency sweeps having the same slopes.
The propagation delay of the antenna signals and thus the distance to the target object may then be determined from a frequency shift of the antenna signals reflected by the target object with respect the a reference signal provided within the radar device. The frequency shift of the received antenna signal with respect to the reference signal may be determined by mixing the received antenna signal with the reference signal to obtain an intermediate signal at a frequency corresponding to the frequency shift and by determining the frequency of the intermediate signal, for example using a Fourier transform operation. The resolution with which the distance to the target object can be determined is then given by the resolution with which the frequency of the intermediate signal can be determined. Usually, the resolution for determining the frequency of the intermediate signal is inversely proportional to the bandwidth of the antenna signals used to generate the intermediate signals, such as to the combined bandwidth of the first and second antenna signal.
According to an embodiment, a slope, for example a linear slope, of the first frequency sweep equals a slope, for example a linear slope, of the second frequency sweep. This facilitates determination of the target distance, as an intermediate signal derived from the first and second antenna signal exhibits a well-defined frequency.
According to an embodiment, the radar circuit is configured to transceive a third antenna signal occupying a third frequency band that is different from the first frequency band and the second frequency band, wherein the ranging module is configured to jointly process the first, second and third antenna signal to determine the distance to the target object irradiated by the first, second and third antenna signal.
The third antenna signal may be transduced via at least one of the first and second antenna. With this embodiment, at least one of the first antenna or the second antenna transduces over a combined frequency band spanning the first frequency band, the third frequency band and the second frequency band. Therefore, target objects that are located in the radiation field of both the first and second antenna are irradiated over the complete combined frequency band and the complete combined frequency band may be used to determine target properties of those target objects, like, for example, their distance and/or velocity. As the resolution for determining target properties, for example distance, is typically proportional to the bandwidth of the radiation used by the radar device, the target properties of target objects that are irradiated over the full combined frequency band may be determined with higher resolution than target properties of target objects that are only irradiated with radiation within the first or second frequency band.
Alternatively, the third antenna signal may be transduced via a third antenna. The third antenna may be coupled to a separate signal port or may be coupled together with the first and/or second antenna to a common signal port.
According to an embodiment, the third frequency band lies between the first and second frequency band. The third frequency band may, for example, cover the entire frequency range between the first and second frequency band. This maximizes the bandwidth of the combined antenna signal used to determine the distance to the target object and therefore the resolution with which the distance to the target object may be resolved. Alternatively, it may also be separated by a first frequency gap from the first frequency band and/or by a second frequency gap from the second frequency band.
According to an embodiment, the antenna device is configured to transduce the third antenna signal via both the first antenna and the second antenna. This enhances the signal strength of the combined antenna signal and therefore the accuracy of the distance determination. The first and second antennas may be connected to the radar circuit via separate signal ports or via a common signal port.
According to an embodiment, the antenna device is configured to transduce the first antenna signal with a first polarization and to transduce the second antenna signal with a second polarization, wherein the second polarization is different from, for example orthogonal to, the first polarization.
For example, the first polarization and the second polarization may be linear polarizations, and one of the first and second antennas may transduce with horizontal linear polarization and the other one of the first and second antennas may transduce with vertical linear polarization. The first polarization and the second polarization may also be circular polarizations, and one of the first and second antennas may transduce with left-handed circular polarization and the other one of the first and second antennas may transduce with right-handed circular polarization.
Transducing the first antenna signal and the second antenna signal with different polarizations improves the isolation between first propagation channels comprising the first antenna and second propagation channels comprising the second antenna, for example in MIMO configurations. If the antenna device comprises a first set of antennas transducing in the first frequency band and a second set of antennas transducing in the second frequency band, all antennas of the first set may transduce with the first polarization and all antennas of the second set may transduce with the second polarization. Therefore, all first propagation channels constructed from the first set the antennas may operate at the first polarization and all second propagation channels constructed from the second set may operate at the second polarization.
When evaluating the data signals generated from the received antenna signals in the signal processing device, the different polarizations of the first and second antennas may be used, for example, for classification of the detected target objects. In this way, polarimetric properties of the target objects may be detected and used during object classification by the signal processing device. This object classification may be performed, for example, by machine-learned algorithms that have been trained on data signals representing the polarimetric properties of different training target objects.
If the antenna device transduces the first antenna signal with the first polarization and the second antenna signal with the second polarization, the first propagation channel may be defined by radiation having the first polarization and the second propagation channel may be defined by radiation having the second polarization. Apart from the polarization of the transmitted radiation, the first propagation channel and the second propagation channel may comprise the same propagation path from the radar device to a target object and back to the radar device. The first propagation channel and the second propagation channel may also comprise different propagation paths between the radar device and the target object.
If the antenna device is configured to transduce the third antenna signal, it may be configured to transduce the third antenna signal with a third polarization that is different from the first and second polarization. The third polarization may be, for example, a linear superposition of the first and second polarization. For example, the first antenna may transduce with the first polarization while the second antenna transduces with the second polarization and the third antenna signal may be transduced via both the first and second antenna. This results in the third antenna signal having a polarization that amounts to a superposition of the first and second polarization. If the first and second polarizations are orthogonal linear polarizations, the third polarization may be linear polarization at an intermediate angle, for example+/−45°, or elliptical polarization.
According to an embodiment, the signal processing device is configured to process the first antenna signal to form a first virtual array of antennas that resolves targets along a first direction and the signal processing device is configured to process the second antenna signal to form a second virtual array of antennas that resolves targets along a second direction.
The second direction may be different from, for example orthogonal to, the first direction. The first direction may be the azimuthal direction and the second direction may be the elevation direction. Alternatively, the second direction may equal the first direction. The first and second direction may then be the azimuthal or the elevation direction.
The first virtual array of antennas may be constructed from the first set of antennas that transduce in the first frequency band and the second virtual array of antennas may constructed from the second set of antennas transducing in the second frequency band. The individual antennas of the first set may be displaced with respect to each other along the first direction and the individual antennas of the second set may be displaced with respect to each other along the second direction. The virtual arrays of antennas may be constructed from the target reflections received via the individual propagation channels established by the antennas of the first or second set of antennas.
The first virtual array of antennas is used to resolve individual targets irradiated by the radar device along the first direction and the second virtual array of antennas is used to resolve the individual targets along the second direction. The first and the second array may have, for example, the same angle resolution. The first and the second array may also have mutually different angle resolutions. The first array may comprise a different number of antennas than the second array and/or the antennas of the first array may be arranged with different spacing than the antennas of the second array. For example, the first array may have a higher number of antennas than the second array and/or the antennas of the first array may be arranged with a smaller spacing than the antennas of the second array and the angle resolution along the first direction may be larger than the angle resolution along the second direction.
The virtual antennas of the first virtual antenna array may have even first distances in between them. For example, the first distances may amount to half the wavelength of a selected frequency within the first frequency band, for example to half the wavelength of the center frequency of the first frequency band. Analogously, the virtual antennas of the second virtual antenna array may have even second distances in between them. For example, the second distances may amount to half the wavelength of a selected frequency within the second frequency band, for example to half the wavelength of the center frequency of the second frequency band. Alternatively, the first distance may equal the second distance. For example, the first and second distance may amount to the wavelength at a selected frequency that is in between the first and second frequency band, for example, at the center between a minimum frequency of the first frequency band and a maximum frequency of the second frequency band or at the center between a maximum frequency of the first frequency band and a minimum frequency of the second frequency band.
According to an embodiment, the first antenna has a first field of view, the first field of view having a first extent along a lateral direction, and the second antenna has a second field of view, the second field of view having a second extent along the lateral direction, wherein the first extent is larger than the second extent.
This allows the radar device to perform different radar functions that necessitate different fields of view. For example, the data signals from the second antenna may be used by the signal processing device for long-range radar (LRR) functions and/or adaptive cruise control and/or emergency brake assist, and the data signals from the first antenna may be used for mid-range radar (MRR) or short-range radar (SRR) functions and/or lane change assist, and/or cross traffic detection, and/or parking assist.
If the antenna device comprises the first set of antennas transducing the first frequency band and the second set of antennas transducing the second frequency band, all antennas of the first set may have the first field of view and/or antennas of the second set may have the second field of view along the lateral direction. First propagation channels constructed from the antennas of the first set then comprise first propagation paths that are located within the first field of view and second propagation channels constructed from the antennas of the second set then comprise second propagation paths that are located within the second field of view. Besides the different propagation paths, the first and second propagation channels may additionally differ by the polarization of the first radar signal and the second radar signal.
To realize a small field of view, the second antenna may comprise a multitude of antenna elements that are placed next to each other along the lateral direction and form a phased array that narrows the beam solid angle of the second antenna in the lateral direction. The first antenna may comprise a multitude of antenna elements that form a larger beam solid angle than the antenna elements of the second antenna, for example, due to the first antenna having a smaller number of antenna elements than the second antenna.
According to an embodiment, the antenna device is configured to capture target reflections of the first antenna signal from target positions within a first range and to capture target reflections of the second antenna signal from target positions within a second range, wherein the first range is smaller than the second range. By activating the first or second antenna, the radar device may therefore activate antenna configurations having different target ranges.
If the antenna device comprises the first set of antennas transducing the first frequency band and the second set of antennas transducing the second frequency band, all antennas of the first set of antennas may be configured to capture target reflections within the first range and all antennas of the second set of antennas may be configured to capture target reflections and the second range.
According to an embodiment, the second antenna comprises antenna elements of the first antenna. The second antenna may comprise only a part of the antenna elements of the first antenna or it may comprise all antenna elements of the first antenna. Besides the antenna elements of the first antenna, the second antenna comprises additional antenna elements that do not form part of the first antenna. Transducing the second antenna signal via a second antenna that comprises at least parts of the antenna elements of the first antenna and additional antenna elements allows to transduce the second antenna signal within a different, for example narrower, solid angle than the first antenna signal. Therefore, the field of view of the antenna device may be different, for example narrower, in the second frequency band than in the first frequency band. The additional antenna elements may be positioned symmetrically on both sides of the antenna elements of the first antenna.
Alternatively, the antenna device may be configured to transduce the second antenna signal only via additional antenna elements and not via antenna elements of the first antenna. The first and second antennas then form dedicated and spatially separated antennas only transducing the first and second antenna signal, respectively.
According to an embodiment, a first antenna element that is part of the first antenna and a second antenna element that is part of the second antenna are both coupled to a common signal port of the radar circuit and the radar device is configured to route both the first antenna signal and the second antenna signal via the common signal port between the radar circuit and the antenna device. Furthermore, the antenna device is configured to transduce the first antenna signal via the first antenna element and to transduce the second antenna signal at least via the second antenna element. The first and second antenna signals routed via the common signal port constitute first and second signal portions of a radar signal routed via the common signal port. This increases the number of individually addressable antennas and thus the number of propagation channels available for signal processing by sharing a common signal port of the radar circuit among two or more individual antennas of the antenna device.
The antenna device may be configured as a frequency selective antenna device that transduces antenna signals occupying the first frequency band via the first antenna element and not via the second antenna element and that transduces antenna signals occupying the second frequency band at least via the second antenna element. The radar circuit may then be configured to activate dedicated antennas, such as the first antenna or the second antenna, by varying or switching its operating frequency band. Therefore, the full bandwidth of the radar circuit that is routed via the common signal port may be shared among two or more antennas.
Frequency selectivity of the antenna device may, for example, be realized by employing a frequency selective first antenna and a frequency selective second antenna that are directly and simultaneously coupled to the common signal port. It may also be realized by coupling the first and second antenna to the common signal port via a signal routing device such as a frequency selective multiplexer or a switching device that selectively couples the first antenna or the second antenna to the common signal port. Frequency selectivity may also be realized by coupling the first antenna via a first filter and/or the second antenna via a second filter to the common signal port, wherein the first filter passes the first frequency band and blocks the second frequency band and wherein the second filter passes at least the second frequency band.
The first antenna may be configured to only transduce the first antenna signal and not the second antenna signal by suppressing transduction of the second antenna signal compared to the first antenna signal by at least 10 dB, at least 20 dB, at least 30 dB, at least 40 dB, or at least 50 dB. Likewise, the second antenna may be configured to only transduce the second antenna signal and not the first antenna signal by suppressing transduction of the first antenna signal compared to the second antenna signal by at least 10 dB, at least 20 dB, at least 30 dB, at least 40 dB, or at least 50 dB
The common signal port may be a transmit port of the radar device and the first and second antenna may be transmit-antennas of the antenna device. Alternatively, the common signal port may be a receive port of the radar device and the first and second antenna may be receive-antennas of the antenna device.
In general, a multitude of antennas that include the first and second antenna may be coupled to the common signal port of the radar circuit. The radar signal generated by the radar circuit and routed via the common signal port may then comprise as individual signal portions a multitude of antenna signals, for example one antenna signal for every antenna connected to the common signal port. In particular, more than two antennas may be coupled to the common signal port and the radar signal may comprise more than two antenna signals. The individual antenna signals may each occupy a separate frequency band. The antenna device may be configured to transduce each antenna signal via a separate associated antenna of the antenna device.
In total, several or all ports of the radar circuit may be configured as common signal ports and may be simultaneously coupled to an associated first antenna radiating in the first frequency band and to an associated second antenna radiating in the second frequency band. Each individual radar signal that is generated by the radar circuit and that is fed to a common signal port shared by two or more antennas may have a first antenna signal within the first frequency band and a second antenna signal within the second frequency band, both antenna signals being routed via the common signal port.
For example, all signal ports of the radar circuit may be configured as common ports and the radar circuit may generate all radar signals with a first antenna signal occupying the first frequency band and a second antenna signal occupying the second frequency band. Alternatively, at least one, but not all signal ports of the radar circuit may be configured as common signal ports and at least one radar signal may comprise both a first and a second antenna signal, but at least one other of the radar signals may comprise a first antenna signal only and/or at least one other of the radar signals may comprise a second antenna signal only. The first and second antenna signals of the radar signals share the bandwidth of their common signal port and transmit or receive chain of the radar circuit that is connected to their common signal port.
The signal processing device may be configured to separate the first antenna signal and the second antenna signal from each combined radar signal received via a common signal port, for example by filtering out the first frequency band to obtain the first antenna signal and by filtering out the second frequency band to obtain the second antenna signal. Filtering may be performed by analog filtering prior to sampling and/or by digital filtering after sampling.
If the radar circuit comprises an integrated circuit, the common signal port may be configured as an external connection point of the integrated circuit. Frequency selectively coupling the connection point to the first and second antenna then effectively doubles the individual antennas and propagation channels that are addressable via the connection point forming the common signal port.
With all embodiments, the first antenna and the second antenna may be configured to radiate the first signal portion and the second signal portion from the same physical location on the antenna device. To this end, the first antenna and the second antenna may be formed by a dual frequency antenna that is resonant both in the first frequency band and in the second frequency band. Such a dual frequency antenna may be fed by a common signal line carrying both the first and second signal portion.
Alternatively, the first antenna and the second antenna may be configured to radiate the first signal portion and the second signal portion from different physical locations on the antenna device. To this end, the individual antennas may be configured as separate antennas that are located at different physical locations of the antenna device.
In general, the individual antennas coupled to the radar circuit may also contain a set of antennas that are configured to radiate individual antenna signals from the same physical location and another set of antennas that are configured to radiate individual antenna signals from separate physical locations on the antenna device. For example, two antennas may be configured to radiate their respective antenna signals from the same physical location and two further antennas may be configured to radiate their respective antenna signals from separate physical locations.
In another aspect, the present disclosure is directed at a vehicle with the radar according to the present disclosure. Insofar, all embodiments and effects that are disclosed in connection with the radar device also apply to the vehicle of the present disclosure and vice versa.
In another aspect, the present disclosure is directed at a method for operating a radar device, for example for automotive applications, the radar device comprising a radar circuit, an antenna device and a signal processing device. The method comprises: transceiving a first antenna signal and a second antenna signal with the radar circuit, wherein the first antenna signal occupies a first frequency band and the second antenna signal occupies a second frequency band that is separate from the first frequency band, transducing the first signal portion via a first antenna of the antenna device and the second signal portion via a second antenna of the antenna device, joint processing of the first and second antenna signal with a ranging module of the signal processing device to determine a distance to a target object irradiated by the antenna device.
The method may be performed, for example, by the radar device of the present disclosure. Insofar, all embodiments and effects that are disclosed in connection with the radar device also apply to the method of the present disclosure and vice versa.
Each common transmit signal port 130, 131 is coupled to a first antenna 211 and a second antenna 221 of the antenna device 200, the first antennas 211 and the second antennas 221 each being placed at different locations on the antenna device 200. The first transmit chain 125 is connected to the signal processing device 120 to receive a first control signal 121 and the second transmit chain 126 is connected to the signal processing device 120 to receive a second control signal 122.
Based on the first control signal 121, the first transmit chain 125 generates a first transmit radar signal 10 comprising a first signal portion 11 occupying a first frequency band and a second signal portion 12 occupying a second frequency band. The first transmit radar signal 10 is routed via the first common transmit signal port 130 to the antenna device 200 and the antenna device 200 is configured to selectively transduce the first signal portion 11 of the first transmit radar signal 10 via the first antenna 211 coupled to the first common transmit signal port 130 and to selectively transduce the second signal portion 12 of the first transmit radar signal 10 via the second antenna 221 coupled to the first common transmit signal port 130.
Based on the second control signal 122, the second transmit chain 126 generates a second transmit radar signal 15 comprising a first signal portion 16 occupying the first frequency band and a second signal portion 17 occupying the second frequency band. The second transmit radar signal 15 is routed via the second common transmit signal port 131 to the antenna device 200 and the antenna device 200 is configured to selectively transduce the first signal portion 16 of the second transmit radar signal 15 via the first antenna 211 coupled to the second common transmit signal port 131 and to selectively transduce the second signal portion 17 of the second transmit radar signal 15 via the second antenna 221 coupled to the second common transmit signal port 131.
The individual first signal portions 11, 16 constitute first antenna signals transduced via the first antennas 211 and the individual second signal portions 12, 17 constitute second antenna signals transduced via the second antennas 221. The individual first signal portions 11, 16 of the first and second transmit radar signal 10, 15 are radiated by the individual first antennas 211 towards a target object 3 and the individual second signal portions 12, 17 of the first and second transmit radar signal 10, 15 are radiated by the individual second antennas 221 towards the target object 3. The target object 3 reflects the signal portions 11, 12, 16, 17 of the first and second transmit radar signal 10, 15 at least partly back to the antenna device 200.
At the antenna device 200, the first signal portions 11, 16, which occupy the first frequency band, are transduced by two separated first antennas 211 and the second signal portions 12, 17, which occupy the second frequency band, are transduced by two separated second antennas 221. The first antennas 211 are resonant in the first frequency band of the first signal portions 11, 16 and they are off-resonant in the second frequency band of the second signal portions 12, 17. Analogously, the second antennas 221 are resonant in the second frequency band of the second signal portions 12, 17 and they are off-resonant in the first frequency band of the first signal portions 11, 16.
One of the first antennas 211 and one of the second antennas 221 are coupled via a first common receive signal port 135 to a first receive chain 127 of a signal receiver 110 of the radar circuit 100. Likewise, the other one of the first antennas 211 and the other one of the second antennas 221 are coupled via a second common receive signal port 136 to a second receive chain 128 of the signal receiver 110.
The antenna device 200 routes a first signal portion 21 of a first receive radar signal 20 from the first antenna 211 that is coupled to the first common receive signal port 135 and a second signal portion 22 of the first receive radar signal 20 from the second antenna 221 that is coupled to the first common receive signal port 135 via the first common receive signal port 135 to the first receive chain 127. The antenna device 200 further routes a first signal portion 26 of a second receive radar signal 25 from the first antenna 211 that is coupled to the second common receive signal port 136 and a second signal portion 27 of the second receive radar signal 25 from the second antenna 221 that is coupled to the second receive signal port 136 via the second common receive signal port 136 to the second receive chain 128. The individual first signal portions 21, 26 constitute first antenna signals that are transduced by the first receive antennas 211 and the individual second signal portions 22, 27 constitute second antenna signals that are transduced by the second receive antennas 221.
The first signal portion 21 of the first receive radar signal 20 comprises the fractions of the first signal portions 11, 16 of the first and second transmit radar signals 10, 15 that are received by the first antenna 211 coupled to the first common receive signal port 135. The second signal portion 22 of the first receive radar signal 20 comprises the fractions of the second signal portions 12, 17 of the first and second transmit radar signals 10, 15 that are received by the second antenna 221 coupled to the first common receive signal port 135.
Likewise, the first signal portion 26 of the second receive radar signal 25 comprises the fractions of the first signal portions 11, 16 of the first and second transmit radar signals 10, 15 that are received by the first antenna 211 coupled to the second common receive signal port 136. The second signal portion 27 of the second receive radar signal 25 comprises the fractions of the second signal portions 12, 17 of the first and second transmit radar signals 10, 15 that are received by the second antenna 221 coupled to the second common receive signal port 136.
The first receive chain 127 generates a first radar data signal 123 that represents the first radar signal 20 received from the first common receive signal port 135 and the second receive chain 128 generates a second radar data signal 124 that represents the second radar signal 25 received from the second common receive signal port 136. The signal receiver 110 is connected to the signal processing device 120 and the first and second radar data signal 123, 124 are transferred from the signal receiver 110 to the signal processing device 120.
The first transmit chain 125 and the second transmit chain 126 generate the respective first portions 11, 16 of the first transmit radar signal 10 and the second transmit radar signal 15 having different values of a first separability parameter and they generate the respective second portions 12, 17 of the first transmit radar signal 10 and the second transmit radar signal 15 having different values of a second separability parameter. Using the first separability parameter, the signal processing device 120 is able to separate the parts of the first signal portions 21, 26 of the first and second receive radar signal 20, 25 that originate from the first portion 11 of the first transmit radar signal 10 from the parts of the first signal portions 21, 26 of the first and second receive radar signal 20, 25 that originate from the first portion 16 of the second transmit radar signal 15. Likewise, the signal processing device 120 uses the second separability parameter to separate the parts of the second signal portions 22, 27 of the first and second receive radar signal 20, 25 that originate from the second portion 12 of the first transmit radar signal 10 from the parts of the second signal portions 22, 27 that originate from the second portion 17 of the second transmit radar signal 15.
Additionally, the signal processing device 120 separates the first signal portion 21 and the second signal portion 22 of the first receive radar signal 20 using the separate frequency bands of the first and second signal portions 21, 22 received via the first common receive signal port 135 and the signal processing device 120 separates the first signal portion 26 and the second signal portion 27 of the second receive radar signal 25 using the separate frequency bands of the first and second signal portions 25, 26 received via the second common receive signal port 136.
The first antennas 211 transduce electromagnetic radiation with a first polarization and the second antennas 221 transduce electromagnetic radiation with a second polarization that is orthogonal to the first polarization. For example, the first antennas 211 may transduce electromagnetic radiation with horizontal linear polarization and the second antennas 221 may transduce electromagnetic radiation with vertical linear polarization, or vice versa.
The radar device 1 establishes a total of eight different propagation channels from the antenna device 200 to the target object 3 and back to the antenna device 200 and the signal processing device 120 is configured to separately detect the target reflections propagating via the individual propagation channels to establish a virtual antenna array in a MIMO configuration. Among the eight different propagation channels, a first set of four propagation channels is operating in the first frequency band and a second set of four propagation channels is operating in the second frequency band.
The radar device 1 establishes a first propagation channel 70 from the first antenna 211 coupled to the first common transmit signal port 130 to the first antenna 211 coupled to the first common receive signal port 135, a second propagation channel 71 from the second antenna 221 coupled to the first common transmit signal port 130 to the second antenna 221 coupled to the first common receive signal port 135, a third propagation channel 72 from the first antenna 211 coupled to the first common transmit signal port 130 to the first antenna 211 coupled to the second common receive signal port 136, and a fourth propagation 73 channel from the second antenna 221 coupled to the first common transmit signal port 130 to the second antenna 221 coupled to the second common receive signal port 136.
The radar device 1 further establishes a fifth propagation channel 74 from the first antenna 211 coupled to the second common transmit signal port 131 to the first antenna 211 coupled to the first common receive signal port 135, a sixth propagation channel 75 from the second antenna 221 coupled to the second common transmit signal port 131 to the second antenna 221 coupled to the first common receive signal port 135, a seventh propagation channel 76 from the first antenna 211 coupled to the second common transmit signal port 131 to the first antenna 211 coupled to the second common receive signal port 136, and an eight propagation channel 77 from the second antenna 221 coupled to the second common transmit signal port 131 to the second antenna 221 coupled to the second common receive signal port 136.
The first set of propagation channels is established by the first signal portions transduced via the first antennas 211. It comprises the first propagation channel 70, the third propagation channel 72, the fifth propagation channel 74 and the seventh propagation channel 76. The second set of propagation channels is established by the second signal portions transduced via the second antennas 221. It comprises the second propagation channel 71, the fourth propagation channel 73, the sixth propagation channel 75 and the eighth propagation channel 77.
With the radar device 1 shown in
Each antenna 211, 221 is connected via a single signal port 130, 131, 135, 136 to the radar circuit 100. The individual signal portions 11, 12, 16, 17, 21, 22, 26, 27 of the radar signals 10, 15, 20, 25 then constitute individual antenna signals, each antenna signal being transduced by a separate antenna 211, 221.
Alternative embodiments of the radar device 1 shown in
The first minimum frequency 32 may amount to 75.5 GHz and the second maximum frequency 36 may amount to 81.5 GHz. The first maximum frequency 33 may amount to 77.5 GHz and the second minimum frequency 35 may amount to 79.5 GHz.
As can be seen from
In alternative embodiments, a different frequency sweep may be employed within the first frequency band 31 and/or within the second frequency band 34. For example, the frequency 30 may be swept from lower frequencies to higher frequencies. The frequency sweep may also start with a sweep over the first frequency band 31 instead of starting with the sweep over the second frequency band 34.
Besides the first common transmit signal port 130 and the second common transmit signal port 131 shown in
Each common signal port 130, 131, 133, 135, 136, 137 is coupled via a common signal line 205 to an individual signal routing device 230. Each signal routing device 230 has a first port 231 and a second port 232. Each first port 231 is coupled to an individual first antenna 211 transducing in the first frequency band 31 and each second port 232 is coupled to an individual second antenna 221 transducing in the second frequency band 34. The first antennas 211 each comprise a set of serially coupled first antenna elements 213 and the second antennas 221 each comprise a set of serially coupled second antenna elements 223.
The signal generator 105 is controlled to generate individual radar signals for every common transmit signal port 130, 131, 133, each radar signal having a first signal portion occupying the first frequency band 31 and a second signal portion occupying the second frequency band 34. The individual first signal portions all differ in a first separability parameter and the individual second signal portions all differ in a second separability parameter.
The signal processing device 120 of the radar device 1 shown in
The signal routing device 230 may be configured as a frequency selective device.
The first line segment 236 has an electric length of 0° and the second line segment 237 has an electric length of 170°, both at a center frequency that is located between the first minimum frequency 32 and the second maximum frequency 36. The first filter 238 and the second filter 239 are configured as bandpass filters, the first filter 238 having a center frequency that corresponds to the center frequency of the first frequency band 31 and the second filter 239 having a center frequency that corresponds to the center frequency of the second frequency band 34.
The signal routing device 230 may also be configured as a switching device like it is shown in an exemplary embodiment in
In alternative embodiment, the switching device 23 may be configured to route signals from both the first and second frequency band 31, 34 via both first and second port 231, 232. In this case, the first and second signal portions 11, 12, 16, 17, 21, 22, 26, 27 of the radar signals 10, 15, 20, 25 may span both frequency bands 31, 34. The antenna device 200 may then alternately transduce either the first signal portions 11, 16, 21, 26 or the second signal portions 12, 17, 22, 27 in a time multiplexed manner.
The first filter 281 configured to pass the first signal portion 11, 16, 21, 26 and to block the second signal portion 12, 17, 22, 27 of the radar signal 10, 15, 20, 25. The second filter 282 is configured to pass at least the second signal portion 12, 17, 22, 27. It may additionally be configured to block the first signal portion 11, 16, 21, 26.
As can be seen from
Analogously to the signal routing device 230 shown in
As it is shown in
The third embodiment of the radar device 1 does not comprise the signal routing devices 230 of the second embodiment. Instead, the first antennas 211 and the second antennas 221 are serially coupled to the common signal lines 205. The first antennas 211 are only resonant within the first frequency band 31 and therefore only transduce the first signal portions of the radar signals and the second antennas 221 are only resonant within the second frequency band 34 and therefore only transduce the second signal portions of the radar signals. The first antennas 211 are configured as array antennas that comprise leaky traveling waveguide antenna elements and the second antennas 221 are configured as array antennas that comprise series-fed antenna elements.
The first antennas 211 form a first set 210 of antennas that are arranged in a first MIMO array along a first direction 201 and the second antennas 221 form a second set 220 of antennas that are arranged in a second MIMO array along a second direction 202 that is perpendicular to the first direction 201. The second antennas 221 are displaced with respect to each other along the second direction 202. Although not shown in
The second transmit antennas 221 that are coupled to the common transmit ports 130, 131, 133 have a first transmit distance 271 between a first one and a second one of the second receive antennas 221 and a second transmit distance 272 between the second one and a third one of the second transmit antennas 221. The first transmit distance 271 may, for example, amount to half a wavelength at a selected frequency and the second transmit distance 272 may amount to the wavelength at the selected frequency. The selected frequency may lie within the second frequency band 34 and may amount to the center frequency of the second frequency band 34, for example.
The second receive antennas 221 that are coupled to the common receive ports 135, 136, 137 have a first receive distance 273 between a first one and a second one of the second receive antennas 221, a second receive distance 274 between the second one and a third one of the second receive antennas 221, and a third receive distance 275 between the third one and a fourth one of the second receive antennas 221. The first receive distance 273 may amount to 0.7-times the wavelength at the selected frequency, the second receive distance 274 to 1.5-times times the wavelength at the selected frequency and the third receive distance 275 to 3.5-times the wavelength at the selected frequency.
The signal processing device 120 of the radar device 1 is configured to construct from the first antenna signals transduced via the first antennas 211 a first virtual antenna array that extends along the first direction 201 and that resolves targets along the first direction 201 and to construct from the second antenna signals transduced via the second antennas 221 a second virtual antenna array that extends along the second direction 202 and resolves targets along the second direction 202. The first and second antenna array each are configured as MIMO arrays.
Although shown in connection with the third embodiment of the radar device 1, the antenna arrangement of
With the antenna devices 200 of the preceding Figures, the first antennas 211 and the second antennas 221 that are coupled to a common signal port 130, 131, 133, 135, 136, 137 of the radar circuit 100 are configured as separate antennas that are positioned at different locations of the antenna device 200 and consequently transduce radiation fields that have phase centers that are shifted with respect to each other. In alternative embodiments, first antennas 211 and second antennas 221 that are coupled to a common signal port 130, 131, 133, 135, 136, 137 may also coincide and be located at the same position on the antenna device 200, as it is exemplarily shown in
As far as no differences are apparent from the description and the drawings, the radar device 1 of the fourth embodiment is configured as it is described and shown in connection with the radar device 1 according to the third embodiment shown in
In the fourth embodiment of the radar device, 1, the individual first and second antennas 211, 221 that are together coupled to a common signal port 130, 131, 133, 135, 136, 137, 137 are colocated and the corresponding first and second antenna elements 213, 223 coincide. The resulting common antennas 218 are configured as dual-polarized antennas that transduce radiation in the first frequency band 31 with a first polarization and that transduce radiation in the second frequency band 34 with a second polarization. The second polarization may be orthogonal to the first polarization. The first polarization may be linear polarization along a first polarization direction 206 and the second polarization may be linear polarization along a second polarization direction 207 that is perpendicular to the first polarization direction 206.
With the common antennas 218 shown in
In other alternative embodiments of the radar devices 1 of the present disclosure, the first antennas 211 and the second antennas 221 may be shaped and/or positioned to have fields of view with different extends along a lateral direction. As it is shown in
A first propagation channel 70 between the radar device 1 and a target object 3 that is located inside the first field of view 240 and outside the second field of view 242 comprises a signal path that is established by the first antennas 211 of the radar device 1. Likewise, a second propagation channel 71 between the radar device 1 and a further target object 4 that is located inside the second field of view 242 and outside the first field of view 240 comprises a signal path that is established by the second antennas 221 of the radar device 1. The signal processing device 120 is configured to detect reflections from the target object 3 that are received via the first propagation channel 70 using and analyzing the first signal portions 11, 16, 21, 26 and to detect reflections from the further target object 4 that are received via the second propagation channel 71 by using and analyzing the second signal portions 12, 17, 22, 27. An additional target object 5 that is located inside the first and second field of view 240, 242 is irradiated by both the first antennas 211 and the second antennas 221.
The additional antenna elements 222 may be passive elements that have no conductive coupling to the common signal ports 130, 131, 133, 135, 136, 137 of the radar circuit 100. Alternatively, they may be active elements that actively transduce radar signals that are routed via the common signal ports 130, 131, 133, 135, 136, 137. For example, the additional antenna elements 222 may be serially coupled to the second antennas 221 located at the outer positions of the second antennas 221 and may transduce in the second frequency band 34 only. Alternative embodiments of the first and second antennas 211, 221 shown in
In addition to the second antenna elements 223, the second antenna 221 also comprises the first antenna elements 213 and the first antenna elements 213 are configured to transduce both in the first frequency band 31 and in the second frequency band 34. The signal routing device 230 is configured to route the first signal portion 11 of the radar signal 10 only between the first antenna elements 213 and the common signal port 130 and to route the second signal portion 221 of the radar signal 10 between the common signal port 130 and both the second antenna elements 223 and the first antenna elements 213. Consequently, the antenna device 200 transduces radar signals in the first frequency band 31 only via the first radiating elements 213 and it transduces radar signals in the second frequency band 34 via both the first radiating elements 213 and the second radiating elements 223.
The first radiating elements 213 and the second radiating elements 223 are arranged in a way that the first radiating elements 213 form a first antenna array and that the second radiating elements 223 together with the first radiating elements 213 form a second antenna array with a narrower beam solid angle than the first antenna array. The first antenna array and/or the second antenna array may be configured as phased arrays.
In all embodiments of the radar device 1 according to the present disclosure, further antennas may be coupled to the individual common signal ports 130, 131, 133, 135, 135, 136, 137 besides the first antennas 211 and the second antennas 221. The antenna device 200 may then transduce electromagnetic radiation via the individual antennas in mutually separate frequency bands so that mutually separate signal portions of the radar signals routed via the common signal ports 130, 131, 133, 135, 135, 136, 137 may each be transduced via a specific individual antenna coupled to the respective signal port 130, 131, 133, 135, 135, 136, 137. For example, the signal routing devices 230 shown in
The radar devices 1 described in connection with the previous Figures are configured as distance sensing radar devices that employ frequency modulated continuous wave radar signals, for example the frequency modulated radar signals 10, 15 shown in
The first radar data signal 123 is received by a splitting module 140 that is configured to separate the portion of the first radar data signal 123 that represents the first signal portion 21 from the portion that represents the second signal portion 22. The data representing the first signal portion 21 is evaluated by a first evaluation module 144 to evaluate reflection via a first propagation channel 70 shown in
For determining the distance to the target object 5 from the signal portions 21, 22 of the receive radar signal 20, the ranging module 142 is configured to determine a phase shift of the receive radar signal 20 that is transduced via the receive antennas 211, 221 with respect to the transmit radar signal 10 that is transduced via the transmit antennas 211, 221. To this end, the ranging module 142 comprises a mixing module 151 that mixes the transmit radar signal 10 containing the first and second signal portion 11, 12 with the receive radar signal 20 containing the first and second signal portions 21, 22 to generate an intermediate signal 152 at an intermediate frequency that equals the instantaneous frequency difference between the first receive radar signal 20 and the first transmit radar signal 10. The radar circuit may employ the linear frequency sweeps shown in
The frequency of the intermediate signal 152 is a measure for the phase shift that the first radar signal acquires upon reflection at the target object. To determine the distance of the target object, the ranging module 142 comprises a measurement module 154 that measures the intermediate frequency and determines the target distance from the measured intermediate frequency. For measuring the target distance, the measurement module 154 may perform a Fourier transform, for example a fast Fourier transform (FFT), on the intermediate signal 152. Since the minimum resolvable frequency difference is given by the bandwidth of the intermediate signal 152 and thus the bandwidth of the signals used to generate the intermediate signal 152, jointly processing the first and second signal portions 21, 22 increases the resolution of the ranging module 142 compared to a single evaluation of only the first or second signal portion 21, 22.
With the signal processing device 120 shown in
With all radar devices 1 of the present disclosure, the first antennas 211 may have the first transmission 51 and the second antennas 221 have the second transmission 52 shown in
In alternative embodiments of the radar devices 1 according to the present disclosure, the first transmission 51 of the first antennas 211 and the second transmission 52 of the second antennas 221 are configured as shown in
Therefore, only the first antennas 211 and not the second antennas 221 transduce in the first frequency band 31, while in the second frequency band 34 only the second antennas 221 and not the first antennas 211 transduce. In the third frequency band 37, the first transmissions 51 of the first antennas 211 and the second transmissions 52 of the second antennas 221 overlap and both the first antennas 211 and the second antennas 221 transduce in the third frequency band 37.
The first, second and third frequency bands 31, 34, 37 directly join with each other so that the first maximum frequency 33 equals a third minimum frequency 38 of the third frequency band 37 and the second minimum frequency 35 equals a third maximum frequency 39 of the third frequency band 37. With the transmissions 51, 52 shown in
With the bursts shown in
With the radar devices 1 of the previous Figures, the individual antennas 211, 221 are each coupled to a single signal port 130, 131, 133, 135, 136, 137. The first and second signal portions 11, 12, 16, 17, 21, 22, 26, 27 of the individual radar signals 10, 15, 20, 25 then constitute separate antenna signals representing the radiation fields of the individual antennas 211, 221. The antenna signals are entirely routed as the separate signal portions 11, 12, 16, 17, 21, 22, 26, 27 over a single port 130, 131, 133, 135, 136, 137 of the radar circuit 100.
The first and second antennas 211, 221 shown in
The first and second antennas 211, 221 shown in
The radar devices 1 where first and second antennas 211, 221 coupled to a common signal port 130, 131, 133, 135, 136, 127 have separate phase centers may use the separate phase centers to establish different propagation channels and to form a virtual antenna array, such as a MIMO array, from the individual propagation channels. For example, the processing unit of these radar devices 1 may use the location of first phase centers of the first antennas 211 as first antenna positions and the location of second phase centers of the second antennas 221 as second antenna positions. The locations of the corresponding phase centers thereby correspond to the phase centers of the radiation patterns associated with the antennas 211, 221. The angular position of a target object may then be determined by evaluating the phase shifts that the individual radar signals acquire when propagating via the different propagation channels established by the spatially separated antennas.
A radar circuit 100 of the radar device 1 has a first signal port 130 and a second signal port 131. The first and second signal port 130, 131 are each configured as common signal ports to each of which a first antenna 211 transducing electromagnetic radiation with a first phase center 301 and a second antenna 221 transducing electromagnetic radiation with a second phase center 302 are connected. The first antennas 211 each transduce a first antenna signal occupying a first frequency band and the second antennas 221 each transduce a second antenna signal occupying a second frequency band.
The first phase centers 301 of the first antennas 211 connected to the first and second common signal port 130, 131 are shifted with respect to each other by a first distance 305 along a first direction 201 and are positioned at the same location in a second direction 202 that is perpendicular to the first direction 201. Consequently, from the first antenna signals transduced via the first antennas 211, a virtual antenna array may be constructed that resolves the angular position of a target object along the first direction 201. The second phase centers 302 of the second antennas 221 connected to the first and second common signal port 130, 131 are shifted with respect to each other by a second distance 306 along the second direction 202 and are positioned at the same location in the first direction 201. From the second antenna signals transduced via the second antennas 221, a virtual antenna array may be constructed that resolves the angular position of the target object along the second direction 202.
As can also be seen from
The first antennas 211 frequency selectively transduce in a first frequency band and the second antennas 221 frequency selectively transduce in a second frequency band that is separate from the first frequency band. The first common signal port 130 routes a first radar signal 10 that comprises the first antenna signal as a first signal portion 11 and the second antenna signal as a second signal portion 12. Likewise, the second common signal port 131 routes a second radar signal 15 that comprises the first antenna signal as a first signal portion and the second antenna signal as a second signal portion 17. The first signal portions 11, 16 and first antenna signals each occupy the first frequency band and the second signal portions 12, 17 and second antenna signals each occupy the second frequency band.
Like the first and second antennas 211, 221 connected to the first and second common signal 130, 131, the first antenna 211 connected to the further common signal port 133 frequency selectively transduces a first antenna signal occupying the first frequency band and the second antenna 221 connected to the further common signal port 133 frequency selectively transduces a second antenna signal occupying the second frequency band.
With the radar device of
The individual first phase centers 301 of the first antennas 211 connected to the individual common signal ports 130, 131, 133 are aligned with each other in the second direction 202 and separated from each other in the first direction 201 by the first distance 305. The second phase centers 302 of the second antennas 221 connected to the first and second common signal port 130, 131 are separated from each other along the second direction 202 by twice the second distance 306 and the phase center 302 of the second antenna 221 connected to the further common signal port 133 is separated from the second phase center 302 of the second antenna 221 connected to the second common signal port 131 by the second distance 306.
The individual third phase centers 303 are aligned with the first and second phase centers 301, 302 of the antennas 211, 221, 229 connected to the same signal port 130, 131, 133 in the first direction 201. In the second direction 202, the third phase center 303 of the antenna 229 connected to the first common signal port 130 is positioned at the same location as the second phase center 302 of the antenna 223 connected to the third common signal port 133, the third phase center 303 of the antenna 229 connected to the second common signal port 131 is positioned at the same location as the second phase center 302 of the antenna 223 connected to the first common signal port 131 and the third phase center 303 of the antenna 229 connected to the third common signal port 133 is positioned at the same location as the second phase center 302 of the antenna 223 connected to the second common signal port 132.
The antennas 229 having the third phase centers 303 realize an additional antenna array for resolving the angular position of the target object in the second direction 202. The antennas 223 having the second phase center 302 may differ from the antennas 229 having the third phase center 303 in at least one antenna parameter like gain, field of view, polarization or the like.
Transducing antenna signals occupying separate frequency bands with separate phase centers is, for example, accomplished by the antenna devices 200 shown in
The antenna device 200 comprises a first set 315 of first antenna elements 213, a second set 317 of second antenna elements 223 and a third set 318 of third antenna elements 228. In the second direction 202, the second and third sets 317, 318 of antenna elements 223, 228 are arranged on opposite sides of the first antenna elements 213 of the first set 315. The antenna elements 213, 223, 228 are configured as individual radiating slots provided in a waveguide, for example a surface integrated waveguide. The first antenna 211 consists of the first antenna elements 213 and the third antenna elements 228, the second antenna 221 consists of the first antenna elements 213 and the second antenna elements 223 and the third antenna consists of the first, second and third antenna elements 221, 223, 229.
The first antenna elements 213 of the first set 315 are directly coupled to the common signal port 130 and transduce in the first, second and third frequency band. The second antenna elements 223 of the second set 317 transduce in the second and third frequency band and the third antenna elements 228 of the third set 318 transduce in the first and third frequency band. To this end, the second antenna elements 223 of the second set 317 are coupled to the common signal port 130 by a first filter 310 that is configured as a high path filter that blocks the first frequency band and passes the second and third frequency band, whereas the third antenna elements 228 of the third set 318 are coupled to the common signal port 130 by a second filter 311 that is configured as a low pass filter that blocks the second frequency band and passes the first and third frequency band. The filters 310, 311 and the common signal line connecting the antennas 211, 221, 229 to the common signal port 130 may be configured as surface integrated waveguide devices.
The first antenna 211 has a first phase center 301, the second antenna 221 has a second phase center 302 and the third antenna 229 has a third phase center 303. The phase centers 301, 302, 303 are positioned at the same location in the first direction 201 and are separated from each other along the second direction 202. Thereby, the third phase center 303 is located in between the first phase center 301 and the second phase center 302. The antenna elements 213, 223, 228 are distributed above each other in two rows along the second direction 202 to form array antennas 211, 221, 229 that have a small field of view along the second direction 202, which may be the elevation direction with respect to a ground surface on which a vehicle comprising the radar device 1 travels.
With the radar device shown in
The first filter 310 is configured as a high pass filter that only transduces the second frequency band and the second filter 311 is configured as a low pass filter that only transduces the first frequency band. Consequently, the first antenna 211 transducing in the first frequency band comprises the first set 315 of first antenna elements 213 and the third set 318 of third antenna elements 228, while the second antenna 221 transducing in the second frequency band comprises the first set 315 and the second set 317 of antenna elements 213, 223 and the third antenna 229 transducing in the third frequency band only comprises the first set 315 of antenna elements 213. In alternative embodiments, the first filter 310 may be configured as a high pass filter that blocks the first frequency band and passes the second and third frequency band and the second filter 311 may be configured as a low pass filter that blocks the second frequency band and passes the first and third frequency band. With these embodiments, the third antenna comprises all sets 315, 317, 318 of antenna elements 213, 223, 228.
With the antenna device 200 of
In between the section of the waveguide containing the first set 315 of antenna elements 213 and the section of the waveguide containing the second set 317 of antenna elements 223, the waveguide has two filters 310 that are configured as low pass filters that block the first frequency band. Consequently, the first antenna 211 transducing in the first frequency band comprises the first antenna elements 213 only and the second antenna 221 transducing in the second frequency band comprises both the first and second antenna elements 213, 223. The filters 310 are located in the second direction 202 at both ends of the waveguide section that comprises the first antenna elements 213.
The first antenna 211 then has a first phase center 301 that is located in the middle of the first set 315 of first antenna elements 213 and the second antenna 221 has a phase center that is located in between the first and second set 315, 317 of antenna elements 213, 223, in the center of the antenna structure combining the first and second antennas 211, 221. The second phase center 302 is shifted with respect to the first phase center 301 along the first direction 201.
With the embodiment shown in
The first phase center 301 of the first antenna 211 comprising the first and third set 315, 318 of antenna elements 213, 228 is located along the first direction 201 in between the first and third set 315, 318 of antenna elements 213, 228 and the second phase center 302 of the second antenna 221 comprising the first and second set 315, 317 of antenna elements 213, 228 is located along the first direction 201 in between the first and second set 315, 317 of antenna elements 213, 223.
With the radar devices 1 described in connection with the previous Figures, the antenna signals occupying separate frequency bands are routed between the radar circuit 100 and the antenna device 200 via common signal ports 130, 131, 133, 135, 136, 137 of the radar circuit 100.
With the radar device 1 shown in
The first antenna 211 and the second antenna 221 are both coupled via a signal routing device 230 to a common signal port 204 of a radar circuit 100. The radar circuit 100 is configured to route the radar signal shown in
The first antenna 211 is configured to transduce the first and third signal portions 11, 13, but not the second signal portion 12 and the second antenna 221 is configured to transduce the second and third signal portion 12, 13, but not the first signal portion 11. To this end, the first antenna 211 is coupled via a first filter 281 of the signal routing device 230 to the common signal port 204 and the second antenna 221 is coupled via a second filter 282 of the signal routing device 230 to the common signal port 204. The first filter 281 is configured to pass the first and third signal portion 11, 13 and to block the second signal portion 12, while the second filter 282 is configured to pass the second and third signal portion 12, 13 and to block the first signal portion 11.
The first antenna 211 comprises a first set 315 of first antenna elements 213 and the second antenna 221 comprises a second set 317 of second antenna elements 223. The first set 315 and the second set 317 are spaced apart from each other along a first direction 201. This results in a first phase center 301 of the first antenna 211 being centered at the first set 315 of first antenna elements 213 and a second phase center 302 of the second antenna 221 being centered at the second set 317 of second antenna elements 223. The first and second phase center 301, 302 are therefore spaced apart from each other along the first direction 201.
Since the third signal component 13 is transduced via both the first set 315 of first antenna elements 213 and the second set 317 of second antenna elements 223, the third signal component 13 is transduced via a third phase center 303 that is located in between the first and second phase center 301, 302 along the first direction 201.
Additionally, the first antenna 211 is configured to transduce the first and third signal portions 11, 13 having a first linear polarization, which is parallel to the first direction 201, and the second antenna 221 is configured to transduce the second and third signal portions 12, 13 having a second linear polarization, which is parallel to a second direction 202 that is perpendicular to the first direction 201. This results in the third signal portion 13 being transduced with a third polarization that is a linear superposition of the first and second polarization. The third polarization may be a linear polarization at an intermediate direction between the first direction 201 and the second direction 202, for example at a direction that has an angle of +/−45° with the first and second direction 201, 202. Alternatively, the third polarization may be an elliptical polarization.
The method 400 then comprises transducing the first antenna signals by receiving 420 the first antenna signals via the first receive antennas 211 and the second antenna signals via the second receive antennas 221 of the antenna device 200, respectively. The method further comprises routing 425 the antenna signals from the antenna device 200 via the receive signal ports 135, 136, 137 to the radar circuit 100. The method further comprises measuring the received antenna signals by generating 430 the data signals 123, 124 representing the received antenna signals with the receive chains 127, 128. The method further comprises evaluating the radar signals 20, 25 by jointly processing 445 the first and second antenna signals to determine the distance to the target object and by differentiating 440 individual propagation channels using the separability parameter of the antenna signals.
| Number | Date | Country | Kind |
|---|---|---|---|
| 20155503 | Feb 2020 | EP | regional |
| Number | Name | Date | Kind |
|---|---|---|---|
| 4051474 | Mack | Sep 1977 | A |
| 4768187 | Marshall | Aug 1988 | A |
| 8193974 | Logan | Jun 2012 | B2 |
| 9746554 | Millar | Aug 2017 | B2 |
| 9853365 | Kumar Y. B. | Dec 2017 | B2 |
| 9869762 | Alland et al. | Jan 2018 | B1 |
| 10191143 | Jaeger | Jan 2019 | B2 |
| 10324166 | West | Jun 2019 | B2 |
| 10359504 | Fetterman | Jul 2019 | B2 |
| 10620305 | Thales | Apr 2020 | B2 |
| 10775491 | Lim | Sep 2020 | B2 |
| 10794993 | Jaeger | Oct 2020 | B2 |
| 10871561 | Fox | Dec 2020 | B2 |
| 11187783 | Doescher | Nov 2021 | B2 |
| 11327172 | You | May 2022 | B2 |
| 11346932 | Millar | May 2022 | B1 |
| 11460539 | Engewald | Oct 2022 | B2 |
| 11585889 | Gulati | Feb 2023 | B2 |
| 20110122014 | Szajnowski | May 2011 | A1 |
| 20110163909 | Jeong | Jul 2011 | A1 |
| 20110267217 | Hildebrandt et al. | Nov 2011 | A1 |
| 20120112952 | Logan | May 2012 | A1 |
| 20140218259 | Lee et al. | Aug 2014 | A1 |
| 20160349363 | Millar | Dec 2016 | A1 |
| 20170031005 | Jaeger | Feb 2017 | A1 |
| 20170090011 | West | Mar 2017 | A1 |
| 20170363713 | Kim | Dec 2017 | A1 |
| 20180095162 | Fetterman | Apr 2018 | A1 |
| 20180149735 | Lim | May 2018 | A1 |
| 20180252807 | Fox | Sep 2018 | A1 |
| 20190056478 | Millar | Feb 2019 | A1 |
| 20190195985 | Lin | Jun 2019 | A1 |
| 20190204413 | Jaeger | Jul 2019 | A1 |
| 20190265346 | Hakobyan | Aug 2019 | A1 |
| 20190310358 | Lee | Oct 2019 | A1 |
| 20190310359 | Lee | Oct 2019 | A1 |
| 20200033442 | Gulati | Jan 2020 | A1 |
| 20200057136 | Doescher | Feb 2020 | A1 |
| 20200182994 | Kageme | Jun 2020 | A1 |
| 20200341131 | You | Oct 2020 | A1 |
| 20210055413 | Engewald | Feb 2021 | A1 |
| 20210080536 | Mayer | Mar 2021 | A1 |
| 20210135373 | Spielmann | May 2021 | A1 |
| 20210137406 | Lepple-Wienhues | May 2021 | A1 |
| 20210239791 | Vollbracht et al. | Aug 2021 | A1 |
| 20210239822 | Vollbracht et al. | Aug 2021 | A1 |
| 20220164924 | Millar | May 2022 | A1 |
| Number | Date | Country |
|---|---|---|
| 102004046634 | Mar 2006 | DE |
| 102017221049 | May 2018 | DE |
| 102017223429 | Jul 2018 | DE |
| 3605135 | Feb 2020 | EP |
| 2487374 | Jul 2012 | GB |
| 2020007573 | Jan 2020 | WO |
| Entry |
|---|
| “Extended European Search Report”, EP Application No. 20213050.6, dated May 25, 2021, 11 pages. |
| “Extended European Search Report”, EP Application No. 20155503.4, dated Jul. 24, 2020, 9 pages. |
| “Extended European Search Report”, EP Application No. 20155495.3, dated Aug. 7, 2020, 11 pages. |
| “Extended European Search Report”, EP Application No. 20155499.5, dated Aug. 7, 2020, 11 pages. |
| “FR5CPEC Radar sensor for vehicular use Teardown Internal Photos Robert Bosch GmbH”, Retrieved at: https://fccid.io/NF3FR5CPEC/Internal-Photos/internal-Photos-4041421, Oct. 10, 2018, 6 pages. |
| Trummer, “A Polarimetric 76-79 GHz Radar-Frontend for Target Classification in Automotive Use”, Oct. 2016, 4 pages. |
| Number | Date | Country | |
|---|---|---|---|
| 20210239821 A1 | Aug 2021 | US |
