Low elevation sidelobe antenna with fan-shaped beam

Example embodiments relate to low elevation side lobe antennas with fan-shaped beams. An example radar unit may include a radiating plate having a first side and a second side with an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve extending into the first side of the radiating plate. The waveguide opening is positioned on the first end of the first side and the radiating sleeve is positioned on the second end of the first side. The radar unit also includes a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form waveguide structures. The waveguide horn is configured to receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide and provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through the radiating sleeve into an environment of the radar unit as one or more radar signals.

BACKGROUND

Radio detection and ranging systems (“radar systems”) are used to estimate distances to environmental features by emitting radio signals and detecting returning reflected signals. Distances to radio-reflective features in the environment can then be determined according to the time delay between transmission and reception. A radar system can emit a signal that varies in frequency over time, such as a signal with a time-varying frequency ramp, and then relate the difference in frequency between the emitted signal and the reflected signal to a range estimate. Some radar systems may also estimate relative motion of reflective objects based on Doppler frequency shifts in the received reflected signals.

Directional antennas can be used for the transmission and/or reception of signals to associate each range estimate with a bearing. More generally, directional antennas can also be used to focus radiated energy on a given field of view of interest. Combining the measured distances and the directional information can allow for the surrounding environment features to be determined.

SUMMARY

Example embodiments describe antennas configured to operate using fan-shaped beams with low elevation sidelobes. A vehicle radar system may use one or more radar units configured with such antennas to measure aspects of the nearby environment to supplement navigation of a vehicle.

In one aspect, a radar unit is provided. The radar unit includes a radiating plate having a first side and a second side. The radiating plate includes an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve that extends into the first side of the radiating plate. The waveguide opening is positioned on a first end of the first side and the radiating sleeve is positioned on a second end of the first side. The radar unit also includes a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form a plurality of waveguide structures. The waveguide horn is configured to receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide, and provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through the radiating sleeve into an environment of the radar unit as one or more radar signals.

In another aspect, a vehicle radar system is provided. The vehicle radar system includes a plurality of radar units coupled to a vehicle and configured to use radar signals to measure an environment of the vehicle. At least one radar unit from the plurality of radar units comprises a radiating plate having a first side and a second side. The radiating plate includes an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve that extend into the first side of the radiating plate. The waveguide opening is positioned on a first end of the first side and the radiating sleeve is positioned on a second end of the first side. The at least one radar unit also includes a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form a plurality of waveguide structures. The waveguide horn is configured to receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide, and provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through the radiating sleeve into the environment as one or more radar signals.

In yet another aspect, a method of operating a radar unit is provided. The method involves transmitting, using a radar unit, a plurality of radar signals into an environment. The radar unit includes a radiating plate having a first side and a second side. The radiating plate includes an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve that extends into the first side of the radiating plate. The waveguide opening is positioned on a first end of the first side and the radiating sleeve is positioned on a second end of the first side. The radar unit also includes a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form a plurality of waveguide structures. The waveguide horn is configured to: (i) receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide, and (ii) provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through the radiating sleeve into the environment as the plurality of radar signals. The method further involves receiving, using the radar unit, reflections corresponding to the plurality of radar signals from the environment of the vehicle. Processing the reflections to detect one or more objects in the environment.

DETAILED DESCRIPTION

A radar system can use one or more antennas (radiating elements) to emit electromagnetic energy as radar signals into an environment in order to measure aspects of the environment. Upon coming into contact with surfaces in the environment, the radar signals can scatter in multiple directions with some of the radar signals penetrating into some surfaces while other radar signals reflect off surfaces and travel back towards one or more reception antennas of the radar system as radar reflections. A radar processing system (or another processing unit) may process these radar reflections to generate two dimensional (2D) and/or three dimensional (3D) measurements that represent aspects of the environment, such as the positions, orientations, and movements of nearby objects and other surfaces occupying the environment near the radar system.

Because a radar system can be used to further measure and understand the nearby environment, vehicles are increasingly incorporating vehicle radar systems to generate measurements during navigation that can assist with vehicle navigation, obstacle avoidance, and in other ways that can boost overall vehicle safety. For instance, a vehicle may use radar to detect and identify the positions, orientations, and/or movements of nearby vehicles, bicycles, pedestrians, animals, and stationary objects. Radar can also reveal information about other features in the vehicle's surrounding environment, such as the location, arrangement, and position of road boundaries, road conditions (e.g., smooth or bumpy surfaces), weather conditions (e.g., wet or snowy roadways), and the position of traffic signs and signals.

In some applications, a vehicle radar system is used to assist a driver controlling the vehicle. For instance, radar measurements may be used to generate alerts for certain situations, such as when the vehicle drifts outside its lane, when the vehicle travels too closely to another vehicle or object, and/or in other ways that can help the driver. Radar can also be used to help enable autonomous or semi-autonomous operations by the vehicle. Particularly, radar can be used along with other sensor measurements to help an autonomous vehicle understand its environment and detect changes in the environment in near real-time as discussed above.

As such, the increased use of vehicle radar systems have motivated the exploration of antenna designs that can yield high performance at low manufacturing costs. Many antenna designs often utilize a beam forming network (BFN) configuration to achieve desired results. BFNs can enable signals from multiple radiating antennas to be combined into a pattern that can be more directional than each antenna by itself. To enable the combination, a BFN may include numerous waveguides and junctions that connect the antennas to a printed circuit board (PCB) or another source configured to supply signals for subsequent transmission into the environment by the antennas.

Although these antenna designs that include BFNs can increase directionality of the antennas, the reliance on BFNs can also increase the complexity and cost associated with manufacturing the antennas. Thus, there is a desire for low cost vehicle radar units that are able to emit radiation patterns that maximize the main beam direction while minimizing undesired sidelobe emissions without the complexity that often arises when the radar unit's design includes a BFN. Such radiation patterns may enable a vehicle radar system to obtain accurate measurements of nearby vehicles and other surfaces in a vehicle's environment during navigation.

Example embodiments presented herein describe antennas that meet the above criteria by being low cost to produce and able to emit radiation patterns with fan-shaped beams and low elevation sidelobes. Some example antennas can be configured to produce a razor-thin fan-shaped beam that radiates plus/minus 45 degrees on the azimuth plane and plus/minus 0.6 degrees on the elevation plane. The radiation pattern may differ in other example embodiments. By reducing the complexity of the antenna design, example antennas presented herein may offer high performing radar directionality at a manufacturing cost that is less than other antenna designs that rely on an intricate BFN to enhance directionality.

To further illustrate, an example antenna may include a radiating plate with an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve that each extend into one side of the radiating plate. In particular, these elements (e.g., the illuminator) may be etched into a rectangular plate serving as the radiating plate for the antenna. The waveguide opening and the radiating sleeve may be positioned on opposite ends of the radiating plate. In other embodiments, the waveguide opening can have another position relative to the radiating plate on the radiating plate. For instance, the waveguide opening can be a through-hole positioned in an inner portion of the radiating plate.

In order to enable the transmission and/or reception electromagnetic energy by the elements formed (e.g., etched) into the side of the radiating element, the antenna also includes a metallic cover configured to couple to the side of the radiating plate with the elements. The metallic cover may be a flat metallic surface that can enclose the different elements etched into the side of the radiating plate. In particular, when coupled to the radiating plate, the surface of the metallic cover and the radiating plate create an assembly that forms waveguides coupling the different elements on the radiating plate together, which enables the antenna to transmit signals into the environment and/or receive reflections from the environment. These waveguides formed by the assembly between the metallic cover and the radiating plate define the channels that enclose and guide electromagnetic energy between elements of the antenna.

This configuration of the antenna formed by the assembly can enable transmission of a radiation pattern that includes low sidelobes and fan-shaped beams. The radiation pattern increases the directionality of the antenna and helps limit noise that can arise from signal sidelobes. In some embodiments, the antenna may be implemented as a radar unit configured to transmit radar signals with high directionality, which may produce accurate measurements of the nearby environment.

Transmission of signals using the example antenna may involve feeding electromagnetic energy into the antenna via the waveguide opening. For instance, a printed circuit board (PCB) or another type of source may supply signals into the antenna via the waveguide opening. The electromagnetic energy may traverse through a first waveguide extending from the waveguide opening to the waveguide horn, which is configured to direct at least a portion of the electromagnetic energy toward the illuminator. The length of the waveguide and the positioning of the waveguide opening relative to the waveguide horn can differ within examples. The illuminator and the waveguide horn may be coupled together via another waveguide that enables electromagnetic energy to travel between these components. As such, the illuminator may have an arc-shape with a degree of curvature designed to reflect the electromagnetic energy directed by the waveguide horn out into the environment as signals via a radiating sleeve formed between the metallic plate and the radiating plate. The curvature of the illuminator, position between the illuminator relative the waveguide horn, and/or other parameters of the antenna may be designed to enable the antenna to operate with radiation patterns that have fan-shaped beams and low elevation side lobes.

The antenna can also be used to receive electromagnetic energy from the environment. For example, the antenna may operate as a radar unit configured to receive reflections of radar signals that bounced off surfaces in the environment and back toward the radar unit. Radar reflections may enter into the radar unit via the radiating sleeve and reflect off the illuminator toward the waveguide horn via a waveguide. The waveguide horn may receive at least a portion of the radar reflection and guide the radar reflections through a waveguide and out the waveguide opening to an external source (e.g., a PCB). A processing unit may process the radar reflections received via the radar unit to develop information representing the environment nearby the radar unit, such as the positions, movements, and/or orientations of nearby surfaces.

In some embodiments, example antennas are implemented with multiple radiating plates assembled together. Each of these radiating plates (or a subset of the radiating plates) may each include a similar construction as the radiating plate of the example antenna described above. As such, with multiple radiating plates coupled together, the antenna can efficiently transmit and receive signals in additional ways. For example, the antenna can be implemented as a radar unit configured to quickly switch between transmitting radar signals into the environment and receiving radar signal reflections that reflect off surfaces in the environment. In some applications, some radiating plates can be designated for signal transmission while others are designated for signal reception. For instance, a radar unit may include a first set of radiating plates used for signal transmission (e.g., three radiating plates) and a second set of radiating plates used for signal reception (e.g., two radiating plates). As shown, the quantity and arrangement of the radiating plates can vary within embodiments.

Some embodiments further involve using example radar units with antenna designs described herein as part of a vehicle radar system. In particular, a vehicle radar system may include one or more of radar units with antenna designs presented herein to obtain accurate measurements of the environment surrounding a vehicle. These radar units can be coupled to the vehicle at various locations and orientations that enable the vehicle radar system to measure the changing environment of the vehicle to assist with vehicle navigation. As such, the use of these radar unit designs can enable the vehicle radar system to use radiation patterns with low sidelobes to accurately measure aspects of the environment, such as the positions, orientations, and/or movements of nearby vehicles, pedestrians, traffic signs, road boundaries. For example, the vehicle radar system may include multiple radar units coupled at different positions and/or orientations on the vehicle to enable each radar unit to measure a different region of the environment surrounding the vehicle (e.g., a quadrant configuration configured to measure approximately 360 degrees around the vehicle).

Some example radar units may be configured to operate at an electromagnetic wave frequency in the W-Band (e.g., 77 Gigahertz (GHz)). The W-Band may correspond to electromagnetic waves on the order of millimeters (e.g., 1 mm or 4 mm). A radar system may use one or more antennas that can focus radiated energy into tight beams to measure an environment with high accuracy (e.g., fan-shaped beam with low sidelobes). Such antennas may be compact (typically with rectangular form factors), efficient (i.e., with little of the 77 GHz energy lost to heat in the antenna or reflected back into the transmitter electronics), low cost and easy to manufacture (i.e., radar systems with these antennas can be made in high volume).

Referring now to the figures,FIG.1is a functional block diagram illustrating vehicle100, which represents a vehicle capable of operating fully or partially in an autonomous mode. More specifically, vehicle100may operate in an autonomous mode without human interaction through receiving control instructions from a computing system (e.g., a vehicle control system). As part of operating in the autonomous mode, vehicle100may use sensors (e.g., sensor system104) to detect and possibly identify objects of the surrounding environment to enable safe navigation. In some example embodiments, vehicle100may also include subsystems that enable a driver (or a remote operator) to control operations of vehicle100.

As shown inFIG.1, vehicle100includes various subsystems, such as propulsion system102, sensor system104, control system106, one or more peripherals108, power supply110, computer system112, data storage114, and user interface116. The subsystems and components of vehicle100may be interconnected in various ways (e.g., wired or secure wireless connections). In other examples, vehicle100may include more or fewer subsystems. In addition, the functions of vehicle100described herein can be divided into additional functional or physical components, or combined into fewer functional or physical components within implementations.

Propulsion system102may include one or more components operable to provide powered motion for vehicle100and can include an engine/motor118, an energy source119, a transmission120, and wheels/tires121, among other possible components. For example, engine/motor118may be configured to convert energy source119into mechanical energy and can correspond to one or a combination of an internal combustion engine, one or more electric motors, steam engine, or Stirling engine, among other possible options. For instance, in some implementations, propulsion system102may include multiple types of engines and/or motors, such as a gasoline engine and an electric motor.

Energy source119represents a source of energy that may, in full or in part, power one or more systems of vehicle100(e.g., engine/motor118). For instance, energy source119can correspond to gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and/or other sources of electrical power. In some implementations, energy source119may include a combination of fuel tanks, batteries, capacitors, and/or flywheel.

Transmission120may transmit mechanical power from the engine/motor118to wheels/tires121and/or other possible systems of vehicle100. As such, transmission120may include a gearbox, a clutch, a differential, and a drive shaft, among other possible components. A drive shaft may include axles that connect to one or more wheels/tires121.

Wheels/tires121of vehicle100may have various configurations within example implementations. For instance, vehicle100may exist in a unicycle, bicycle/motorcycle, tricycle, or car/truck four-wheel format, among other possible configurations. As such, wheels/tires121may connect to vehicle100in various ways and can exist in different materials, such as metal and rubber.

Sensor system104can include various types of sensors, such as Global Positioning System (GPS)122, inertial measurement unit (IMU)124, one or more radar units126, laser rangefinder/LIDAR unit128, camera130, steering sensor123, and throttle/brake sensor125, among other possible sensors. In some implementations, sensor system104may also include sensors configured to monitor internal systems of the vehicle100(e.g.,02monitors, fuel gauge, engine oil temperature, condition of brakes).

GPS122may include a transceiver operable to provide information regarding the position of vehicle100with respect to the Earth. IMU124may have a configuration that uses one or more accelerometers and/or gyroscopes and may sense position and orientation changes of vehicle100based on inertial acceleration. For example, IMU124may detect a pitch and yaw of the vehicle100while vehicle100is stationary or in motion.

Radar unit126may represent one or more systems configured to use radio signals to sense objects (e.g., radar signals), including the speed and heading of the objects, within the local environment of vehicle100. As such, radar unit126may include one or more radar units equipped with one or more antennas configured to transmit and receive radar signals as discussed above. In some implementations, radar unit126may correspond to a mountable radar system configured to obtain measurements of the surrounding environment of vehicle100. For example, radar unit126can include one or more radar units configured to couple to the underbody of a vehicle.

Laser rangefinder/LIDAR128may include one or more laser sources, a laser scanner, and one or more detectors, among other system components, and may operate in a coherent mode (e.g., using heterodyne detection) or in an incoherent detection mode. Camera130may include one or more devices (e.g., still camera or video camera) configured to capture images of the environment of vehicle100.

Steering sensor123may sense a steering angle of vehicle100, which may involve measuring an angle of the steering wheel or measuring an electrical signal representative of the angle of the steering wheel. In some implementations, steering sensor123may measure an angle of the wheels of the vehicle100, such as detecting an angle of the wheels with respect to a forward axis of the vehicle100. Steering sensor123may also be configured to measure a combination (or a subset) of the angle of the steering wheel, electrical signal representing the angle of the steering wheel, and the angle of the wheels of vehicle100.

Throttle/brake sensor125may detect the position of either the throttle position or brake position of vehicle100. For instance, throttle/brake sensor125may measure the angle of both the gas pedal (throttle) and brake pedal or may measure an electrical signal that could represent, for instance, the angle of the gas pedal (throttle) and/or an angle of a brake pedal. Throttle/brake sensor125may also measure an angle of a throttle body of vehicle100, which may include part of the physical mechanism that provides modulation of energy source119to engine/motor118(e.g., a butterfly valve or carburetor). Additionally, throttle/brake sensor125may measure a pressure of one or more brake pads on a rotor of vehicle100or a combination (or a subset) of the angle of the gas pedal (throttle) and brake pedal, electrical signal representing the angle of the gas pedal (throttle) and brake pedal, the angle of the throttle body, and the pressure that at least one brake pad is applying to a rotor of vehicle100. In other embodiments, throttle/brake sensor125may be configured to measure a pressure applied to a pedal of the vehicle, such as a throttle or brake pedal.

Control system106may include components configured to assist in navigating vehicle100, such as steering unit132, throttle134, brake unit136, sensor fusion algorithm138, computer vision system140, navigation/pathing system142, and obstacle avoidance system144. More specifically, steering unit132may be operable to adjust the heading of vehicle100, and throttle134may control the operating speed of engine/motor118to control the acceleration of vehicle100. Brake unit136may decelerate vehicle100, which may involve using friction to decelerate wheels/tires121. In some implementations, brake unit136may convert kinetic energy of wheels/tires121to electric current for subsequent use by a system or systems of vehicle100.

Sensor fusion algorithm138may include a Kalman filter, Bayesian network, or other algorithms that can process data from sensor system104. In some implementations, sensor fusion algorithm138may provide assessments based on incoming sensor data, such as evaluations of individual objects and/or features, evaluations of a particular situation, and/or evaluations of potential impacts within a given situation.

Computer vision system140may include hardware and software operable to process and analyze images in an effort to determine objects, environmental objects (e.g., stop lights, road way boundaries, etc.), and obstacles. As such, computer vision system140may use object recognition, Structure From Motion (SFM), video tracking, and other algorithms used in computer vision, for instance, to recognize objects, map an environment, track objects, estimate the speed of objects, etc.

Navigation/pathing system142may determine a driving path for vehicle100, which may involve dynamically adjusting navigation during operation. As such, navigation/pathing system142may use data from sensor fusion algorithm138, GPS122, and maps, among other sources to navigate vehicle100. Obstacle avoidance system144may evaluate potential obstacles based on sensor data and cause systems of vehicle100to avoid or otherwise negotiate the potential obstacles.

As shown inFIG.1, vehicle100may also include peripherals108, such as wireless communication system146, touchscreen148, microphone150, and/or speaker152. Peripherals108may provide controls or other elements for a user to interact with user interface116. For example, touchscreen148may provide information to users of vehicle100. User interface116may also accept input from the user via touchscreen148. Peripherals108may also enable vehicle100to communicate with devices, such as other vehicle devices.

Wireless communication system146may securely and wirelessly communicate with one or more devices directly or via a communication network. For example, wireless communication system146could use 3G cellular communication, such as CDMA, EVDO, GSM/GPRS, or 4G cellular communication, such as WiMAX or LTE. Alternatively, wireless communication system146may communicate with a wireless local area network (WLAN) using WiFi or other possible connections. Wireless communication system146may also communicate directly with a device using an infrared link, Bluetooth, or ZigBee, for example. Other wireless protocols, such as various vehicular communication systems, are possible within the context of the disclosure. For example, wireless communication system146may include one or more dedicated short-range communications (DSRC) devices that could include public and/or private data communications between vehicles and/or roadside stations.

Vehicle100may include power supply110for powering components. Power supply110may include a rechargeable lithium-ion or lead-acid battery in some implementations. For instance, power supply110may include one or more batteries configured to provide electrical power. Vehicle100may also use other types of power supplies. In an example implementation, power supply110and energy source119may be integrated into a single energy source.

Vehicle100may also include computer system112to perform operations, such as operations described therein. As such, computer system112may include at least one processor113(which could include at least one microprocessor) operable to execute instructions115stored in a non-transitory computer readable medium, such as data storage114. In some implementations, computer system112may represent a plurality of computing devices that may serve to control individual components or subsystems of vehicle100in a distributed fashion.

In some implementations, data storage114may contain instructions115(e.g., program logic) executable by processor113to execute various functions of vehicle100, including those described above in connection withFIG.1. Data storage114may contain additional instructions as well, including instructions to transmit data to, receive data from, interact with, and/or control one or more of propulsion system102, sensor system104, control system106, and peripherals108.

In addition to instructions115, data storage114may store data such as roadway maps, path information, among other information. Such information may be used by vehicle100and computer system112during the operation of vehicle100in the autonomous, semi-autonomous, and/or manual modes.

Vehicle100may include user interface116for providing information to or receiving input from a user of vehicle100. User interface116may control or enable control of content and/or the layout of interactive images that could be displayed on touchscreen148. Further, user interface116could include one or more input/output devices within the set of peripherals108, such as wireless communication system146, touchscreen148, microphone150, and speaker152.

Computer system112may control the function of vehicle100based on inputs received from various subsystems (e.g., propulsion system102, sensor system104, and control system106), as well as from user interface116. For example, computer system112may utilize input from sensor system104in order to estimate the output produced by propulsion system102and control system106. Depending upon the embodiment, computer system112could be operable to monitor many aspects of vehicle100and its subsystems. In some embodiments, computer system112may disable some or all functions of the vehicle100based on signals received from sensor system104.

The components of vehicle100could be configured to work in an interconnected fashion with other components within or outside their respective systems. For instance, in an example embodiment, camera130could capture a plurality of images that could represent information about a state of an environment of vehicle100operating in an autonomous mode. The state of the environment could include parameters of the road on which the vehicle is operating. For example, computer vision system140may be able to recognize the slope (grade) or other features based on the plurality of images of a roadway. Additionally, the combination of GPS122and the features recognized by computer vision system140may be used with map data stored in data storage114to determine specific road parameters. Further, radar unit126may also provide information about the surroundings of the vehicle.

In other words, a combination of various sensors (which could be termed input-indication and output-indication sensors) and computer system112could interact to provide an indication of an input provided to control a vehicle or an indication of the surroundings of a vehicle.

In some embodiments, computer system112may make a determination about various objects based on data that is provided by systems other than the radio system. For example, vehicle100may have lasers or other optical sensors configured to sense objects in a field of view of the vehicle. Computer system112may use the outputs from the various sensors to determine information about objects in a field of view of the vehicle, and may determine distance and direction information to the various objects. Computer system112may also determine whether objects are desirable or undesirable based on the outputs from the various sensors. In addition, vehicle100may also include telematics control unit (TCU)160. TCU160may enable vehicle connectivity and internal passenger device connectivity through one or more wireless technologies.

AlthoughFIG.1shows various components of vehicle100, i.e., wireless communication system146, computer system112, data storage114, and user interface116, as being integrated into the vehicle100, one or more of these components could be mounted or associated separately from vehicle100. For example, data storage114could, in part or in full, exist separate from vehicle100. Thus, vehicle100could be provided in the form of device elements that may be located separately or together. The device elements that make up vehicle100could be communicatively coupled together in a wired and/or wireless fashion.

FIGS.2A,2B,2C,2D, and2Eillustrate different views of a physical configuration of vehicle100. The various views are included to depict example sensor positions202,204,206,208,210on vehicle100. In other examples, sensors can have different positions on vehicle100. Although vehicle100is depicted inFIGS.2A-2Eas a van, vehicle100can have other configurations within examples, such as a truck, a car, a semi-trailer truck, a motorcycle, a bus, a shuttle, a golf cart, an off-road vehicle, robotic device, or a farm vehicle, among other possible examples.

As discussed above, vehicle100may include sensors coupled at various exterior locations, such as sensor positions202-210. Vehicle sensors include one or more types of sensors with each sensor configured to capture information from the surrounding environment or perform other operations (e.g., communication links, obtain overall positioning information). For example, sensor positions202-210may serve as locations for any combination of one or more cameras, radar units, LIDAR units, range finders, radio devices (e.g., Bluetooth and/or 802.11), and acoustic sensors, among other possible types of sensors.

When coupled at the example sensor positions202-210shown inFIGS.2A-2E, various mechanical fasteners may be used, including permanent or non-permanent fasteners. For example, bolts, screws, clips, latches, rivets, anchors, and other types of fasteners may be used. In some examples, sensors may be coupled to the vehicle using adhesives. In further examples, sensors may be designed and built as part of the vehicle components (e.g., parts of the vehicle mirrors).

In some implementations, one or more sensors may be positioned at sensor positions202-210using movable mounts operable to adjust the orientation of one or more sensors. A movable mount may include a rotating platform that can rotate sensors so as to obtain information from multiple directions around vehicle100. For instance, a sensor located at sensor position202may use a movable mount that enables rotation and scanning within a particular range of angles and/or azimuths. As such, vehicle100may include mechanical structures that enable one or more sensors to be mounted on top the roof of vehicle100. Additionally, other mounting locations are possible within examples. In some situations, sensors coupled at these locations can provide data that can be used by a remote operator to provide assistance to vehicle100.

FIG.3is a simplified block diagram exemplifying computing device300, illustrating some of the components that could be included in a computing device arranged to operate in accordance with the embodiments herein. Computing device300could be a client device (e.g., a device actively operated by a user (e.g., a remote operator)), a server device (e.g., a device that provides computational services to client devices), or some other type of computational platform. In some embodiments, computing device300may be implemented as computer system112, which can be located on vehicle100and perform processing operations related to vehicle operations. For example, computing device300can be used to process sensor data received from sensor system104, develop control instructions, enable wireless communication with other devices, and/or perform other operations. Alternatively, computing device300can be located remotely from vehicle100and communicate via secure wireless communication. For example, computing device300may operate as a remotely positioned device that a remote human operator can use to communicate with one or more vehicles.

In the example embodiment shown inFIG.3, computing device300includes processor302, memory304, input/output unit306and network interface308, all of which may be coupled by a system bus310or a similar mechanism. In some embodiments, computing device300may include other components and/or peripheral devices (e.g., detachable storage, sensors, and so on).

Memory304may be any form of computer-usable memory, including but not limited to random access memory (RAM), read-only memory (ROM), and non-volatile memory. This may include flash memory, hard disk drives, solid state drives, rewritable compact discs (CDs), rewritable digital video discs (DVDs), and/or tape storage, as just a few examples. Computing device300may include fixed memory as well as one or more removable memory units, the latter including but not limited to various types of secure digital (SD) cards. Thus, memory304can represent both main memory units, as well as long-term storage. Other types of memory may include biological memory.

Memory304may store program instructions and/or data on which program instructions may operate. By way of example, memory304may store these program instructions on a non-transitory, computer-readable medium, such that the instructions are executable by processor302to carry out any of the methods, processes, or operations disclosed in this specification or the accompanying drawings.

As shown inFIG.3, memory304may include firmware314A, kernel314B, and/or applications314C. Firmware314A may be program code used to boot or otherwise initiate some or all of computing device300. Kernel314B may be an operating system, including modules for memory management, scheduling and management of processes, input/output, and communication. Kernel314B may also include device drivers that allow the operating system to communicate with the hardware modules (e.g., memory units, networking interfaces, ports, and busses), of computing device300. Applications314C may be one or more user-space software programs, such as web browsers or email clients, as well as any software libraries used by these programs. In some examples, applications314C may include one or more neural network applications and other deep learning-based applications. Memory304may also store data used by these and other programs and applications.

Input/output unit306may facilitate user and peripheral device interaction with computing device300and/or other computing systems. Input/output unit306may include one or more types of input devices, such as a keyboard, a mouse, one or more touch screens, sensors, biometric sensors, and so on. Similarly, input/output unit306may include one or more types of output devices, such as a screen, monitor, printer, speakers, and/or one or more light emitting diodes (LEDs). Additionally or alternatively, computing device300may communicate with other devices using a universal serial bus (USB) or high-definition multimedia interface (HDMI) port interface, for example. In some examples, input/output unit306can be configured to receive data from other devices. For instance, input/output unit306may receive sensor data from vehicle sensors.

As shown inFIG.3, input/output unit306includes GUI312, which can be configured to provide information to a remote operator or another user. GUI312may be displayable one or more display interfaces, or another type of mechanism for conveying information and receiving inputs. In some examples, the representation of GUI312may differ depending on a vehicle situation. For example, computing device300may provide GUI312in a particular format, such as a format with a single selectable option for a remote operator to select from.

Network interface308may take the form of one or more wireline interfaces, such as Ethernet (e.g., Fast Ethernet, Gigabit Ethernet, and so on). Network interface308may also support communication over one or more non-Ethernet media, such as coaxial cables or power lines, or over wide-area media, such as Synchronous Optical Networking (SONET) or digital subscriber line (DSL) technologies. Network interface308may additionally take the form of one or more wireless interfaces, such as IEEE 802.11 (Wifi), BLUETOOTH®, global positioning system (GPS), or a wide-area wireless interface. However, other forms of physical layer interfaces and other types of standard or proprietary communication protocols may be used over network interface308. Furthermore, network interface308may comprise multiple physical interfaces. For instance, some embodiments of computing device300may include Ethernet, BLUETOOTH®, and Wifi interfaces. In some embodiments, network interface308may enable computing device300to connect with one or more vehicles to allow for remote assistance techniques presented herein.

In addition, computing device300may enable the performance of embodiments described herein, including operations related to transmitting and/or receiving signals via antenna architecture. For, computing device300may cause an antenna structure to transmit signals (e.g., radar signals) and/or receive signals (e.g., radar reflections) for subsequent processing by computing device300and/or another processing system. For example, computing device300may perform processing techniques on incoming measurements obtained via radar. The processing techniques may involve using sensor fusion and other analysis techniques to derive information from radar reflections.

FIG.4Aillustrates a radar unit assembly, according to one or more example embodiments. In the example embodiment, radar unit400includes radiating plate402coupled to metallic cover404together to form a structural antenna assembly that enables radar unit400to transmit and/or receive signals. Radar unit400may be part of a vehicle radar system in some applications. In addition, radiating plate402is further shown with waveguide opening406, waveguide horn408, illuminator410, and radiating sleeve412. In other embodiments, the arrangement, size, and orientation of components for radar unit400can differ.

When assembled together, radiating plate402and metallic cover404form waveguides that enclose and connect the components extending into radiating sleeve412together to enable electromagnetic energy to propagate through radar unit400and out in the environment as radar signals. These waveguides create boundaries that help direct signals between elements enabling radar unit400to operate. For instance, the assembly forms waveguide414, which couples together waveguide opening406and waveguide horn408. The assembly also forms waveguide415that couples waveguide horn408, illuminator410, and radiating sleeve412. Each waveguide can enable electromagnetic energy to traverse between components and in and out of radar unit400.

In addition to the waveguides, the assembly between radiating plate402and metallic cover404also forms radiating sleeve412that can be used for signal transmission or reception. Radiating sleeve412represents an opening in the seam that exists in the side of the assembly at the coupling point between radiating plate402and metallic cover404. The width of radiating sleeve412can depend on the depth of the etching of a channel into side417proximate end418. In some embodiments, radiating sleeve412can be etched a depth into side417that matches one or more of the other elements (e.g., illuminator410). The height of radiating sleeve412may depend on how signals reflect off illuminator410, height420of radiating plate402, and/or other parameters. As such, radar unit400can be configured to transmit signals, such as radar signals with millimeter wavelengths (e.g., 2-4 mm) through radiating sleeve412.

Radar unit400may operate using waveguide opening406, waveguide horn408, illuminator410, and radiating sleeve412. These elements enable radar unit400to propagate electromagnetic energy from a PCB or another source into the environment and from the environment to the PCB or a different component. For signal transmission, electromagnetic energy may initially enter through waveguide opening406from an external source (e.g., a PCB) and propagate through waveguide414to waveguide horn408. Waveguide horn408may direct the electromagnetic energy (or a portion of the electromagnetic energy) toward one or more curved portions of illuminator410via waveguide415, which enables illuminator410to subsequently reflect all or some of the electromagnetic energy through radiating sleeve412and out into the environment as signals. For example, the transmitted electromagnetic energy can traverse the environment as radar signals that reflect back toward radar unit400or another reception antenna or antennas for subsequent processing to understand the environment.

In addition, radar unit400can be used to receive electromagnetic energy from the environment. For example, after radar signals bounce off object surfaces in the environment, some of the radar signals may traverse back toward radar unit400as reflections. The reflections may be initially received by radar unit400via radiating sleeve412. In particular, the reflections may enter through radiating sleeve412and traverse toward illuminator410via waveguide415. The reflections (or a portion of the reflections) may reflect off illuminator410toward waveguide horn408via waveguide415, which may direct the electromagnetic energy of the reflections (or a portion of the electromagnetic energy) into waveguide414toward waveguide opening406. In particular, waveguide414may enable the electromagnetic energy to traverse through waveguide opening406and to an external source, such as a PCB or another source that enables a processing unit to process the electromagnetic energy to determine information about the environment. For instance, a vehicle radar processing unit may identify range, orientation, and movement parameters corresponding to objects in the environment using consecutive radar measurements obtained from radar unit400and/or other radar units.

The size and configuration of radar unit400can differ within example embodiments. In the example embodiment shown inFIG.4A, metallic cover404and radiating plate402are both rectangular structures having matching height420and width422. The assembly of radiating plate402and metallic cover404results in length424, which can also be referred to as depth. Radiating plate402and metallic cover404can be implemented in various types of materials, such as different metals (e.g., aluminum, copper, zinc, iron), metal alloys, or a combination of materials. For example, radiating plate402and/or metallic cover404may be constructed in a polymer with surfaces of components coated in metal to enable propagation of electromagnetic energy between components during operation of radar unit400.

In other embodiments, metallic cover404and radiating plate402can have different structures, materials, and/or dimensions. Metallic cover404can be larger or smaller than radiating plate402. Similarity, other parameters of metallic cover404and radiating plate402can differ, such as material used, component thickness, shapes, etc. For instance, metallic cover404may have a different length than radiating plate402. In addition, in the example embodiment shown inFIG.4A, metallic cover404has flat surfaces, which differs from the side of radiating plate402that includes the various components that enable signal transmission and reception. Metallic cover404may include flat surfaces to keep costs low and enable easy alignment during assembly. In other embodiments, however, metallic cover404may include portions of the components extending into the side of metallic cover404that engages the surface of radiating plate402. For instance, metallic cover404may include a portion of waveguides414,415, as well as portions for other components (e.g., illuminator410).

In some embodiments, radar unit400can be part of a vehicle radar system. As such, radar unit400can be coupled to the vehicle at a vertical orientation (as shown inFIG.4A), a horizontal orientation (e.g., with radiating plate402oriented on top of metallic cover404or metallic cover404on top of radiating plate402), or a slanted orientation. The orientation may depend on the desired use of radar unit400. The vehicle radar system may include multiple radar units coupled at different positions on the vehicle. For instance, a vehicle may include radar unit400and similar radar units coupled in a quadrant arrangement to measure 360 degrees around the vehicle. Each radar unit may use narrow fan beams that can be combined to determine a 2D or three dimensional (3D) map of the environment surrounding the vehicle. In some instances, a vehicle radar unit may also include other radar unit types in combination with radar unit400.

FIG.4Billustrates another view of the radiating plate, according to one or more example embodiments. In the example embodiment, radiating plate402includes waveguide opening406, waveguide horn408, illuminator410, waveguide414, and waveguide415as also shown inFIG.4A. These components may be etched, printed, or otherwise generated into side417of radiating plate402. For instance, one or more of these components (e.g., waveguide horn408and illuminator410) may be recessed approximately 50 millimeters into radiating plate402. In other embodiments, the arrangement, size, and other parameters of these components as well as radiating plate402may differ.

As shown inFIG.4B, waveguide opening406, waveguide horn408, illuminator410, waveguide414, and waveguide415are formed into side417of radiating plate402. Side417of radiating plate402is coupled to metallic cover404to enable the surface of metallic cover404to close and enable components to enclose and propagate electromagnetic energy for signal transmission or reception. In particular, the assembly between radiating plate402and metallic cover404form waveguide opening406, waveguide horn408, illuminator410, and waveguides414-415. In addition, the opposite side of radiating plate402(i.e., side419) may be a flat surface without any components similar to metallic cover404. As such, side419of radiating plate402can enclose components relative to another radiating plate coupled to side419of radiating plate402when radar unit400includes multiple radiating plates.

Waveguide opening406represents a slot that may enable electromagnetic energy to enter into radar unit400and exit from radar unit400relative to an external source (e.g., a PCB). As shown inFIG.4B, waveguide opening406is positioned on end416on side417of radiating plate402, which is opposite of radiating sleeve412positioned on end418of side417when radiating plate402is coupled to metallic cover404. In other embodiments, waveguide opening406can have a different position on radiating plate402. For instance, waveguide opening406can extend through side417or side419into waveguide414. As such, the orientation and structure of waveguide414can differ based on the location and size of waveguide opening406. In an embodiment, waveguide opening406can have a position relative to waveguide horn408, such as into side417, into side419, or up through base426. For instance, a PCB may couple to base426(or relative to base426) and waveguide opening can be positioned in base426between waveguide414and waveguide horn408and the PCB.

Waveguide horn408represents a component that can help direct electromagnetic energy into waveguide414during signal reception and out of waveguide414during signal transmission. The shape, position, angle427relative to waveguide414, and other parameters of waveguide horn408can differ within examples. In some instances, waveguide horn408can control the correct power distribution to illuminator410.

In the embodiment shown, waveguide horn408includes a fray opening with the end portion (the mouth) having a greater diameter than the portion that connects to waveguide414. With this fray opening configuration, waveguide horn408can serve as a funnel when receiving electromagnetic energy that is reflected off illuminator410after entering into radar unit400via radiating sleeve412. The mouth may enable more electromagnetic energy to be received into waveguide414and guided to an external source via waveguide opening406. For example, a processor may use these received signals to determine information about the environment, such as the position, orientation, size, and motions of nearby objects.

Illuminator410represents a component formed in radiating plate402that can help reflect electromagnetic energy out into the environment through radiating sleeve412when radar unit400is being used for signal transmission. In particular, waveguide horn408may be oriented at angle427relative to waveguide414and illuminator410to direct electromagnetic energy from waveguide414toward illuminator410, which can subsequently cause some electromagnetic energy to radiate out radiating sleeve412as radar signals. The curvature of illuminator410and the position and orientation of waveguide horn408(e.g., angle427) as well as other factors can influence the radiation pattern of radar unit400. As further shown, in some embodiments, the top portion of the illuminator may be a straight segment that extends parallel to waveguide414.

In the embodiment shown inFIGS.4A-4B, the arrangement of illuminator410and waveguide horn408may enable radar unit400to transmit fan-shaped narrow beams with low sidelobes. By sizing and shaping illuminator410, the elevation beam patterns produced by radar unit400can be adjusted and the sidelobe levels can be minimized. For example, illuminator410can enable radar unit400to emit radar signals that have at least plus/minus 45 degrees on the azimuth plane and plus/minus 0.6 degrees on the elevation plane across intended frequencies (e.g., within spectrum between 76 GHz and 81 GHz). In some instances, the elevation sidelobe levels are at least 28 dB or better.

In addition, illuminator410can also be used during signal reflection reception by radar unit400. Particularly, illuminator410can redirect signals (e.g., radar reflections) that enter from the environment into radar unit400through radiating sleeve412into waveguide horn408. The electromagnetic energy may be redirected through waveguide415by illuminator410and subsequently funneled into waveguide414via waveguide horn408. The electromagnetic energy can further propagate through waveguide414and out from radar unit400through waveguide opening406. An external source (e.g., a processing unit) may process incoming signals to determine information about the environment. As a result, radar unit400can achieve results similar to or beyond the results produced by complex beam forming networks that can be difficult to manufacture.

Waveguides414,415can enable electromagnetic energy to propagate between components within radar unit400. As such, the dimensions of waveguides414,415can differ within examples and can depend on the size of radiating plate402, position of components (e.g., waveguide horn408and illuminator410), and other potential parameters. In other embodiments, radar unit400may include more or less waveguides.

FIG.4Cillustrates another configuration for radiating plate402, which shows radiating plate402configured with the elements described for the embodiment illustrated inFIGS.4A-4B. As shown, the embodiment represents different options (illuminator option410A, illuminator option410B, and illuminator option410C) that may be used to implement illuminator410within radar unit400. These options differ in curvature, size, and positioning relative to waveguide horn408, which may directly impact the radiation pattern produced by radar unit400. As such, the selection of parameters for illuminator410can depend on the desired radiation pattern for radar unit400with slight differences in design influencing signal output.

In addition, waveguide opening406has a different position as a through hole extending through radiating plate402. At this position, a transmission line may couple to waveguide opening406on side419and/or through a similarly positioned through hole in metallic cover404. As further shown, waveguide414may have a different orientation and position to couple waveguide opening406to waveguide horn408. In addition, waveguide horn408can have a different orientation and position relative to illuminator410in some embodiments. For instance, waveguide horn408may have a more central position in another configuration of radiating plate402.

FIG.5Aillustrates a radar unit with multiple radiating plates, according to one or more example embodiments. Radar unit500includes metallic cover502coupled to multiple radiating plates504. As shown inFIG.5A, radar unit500is similar to radar unit400, but further includes additional radiating plates coupled together resulting in a total of 6 radiating plates. In other examples, radar unit500may have a different quantity of radiating plates.

Metallic cover502may be implemented similar to metallic cover404associated with radar unit400. In particular, metallic cover502may have a similar rectangular structure as radiating plates504and can have a flat surface (i.e., no recess) that can engage a side of a first radiating plate from radiating plates504. The flat surface of metallic cover502can form waveguides to connect components formed into a side of the first radiating plate.

In some embodiments, radiating plates504of radar unit500may include 3 transmission antennas and 3 reception antennas that are spaced approximately 10-14 mm apart, for example. In other embodiments, radiating plates504can include different quantities of transmission antennas, reception antennas, and total radiating plates overall. In addition, the spacing between radiating plates can differ and depend on the thickness of radiating plates used.

FIG.5Billustrates another view of the radar unit shown inFIG.5A, according to one or more example embodiments. In particular, the view depicts radiating plates504of radar unit500without metallic cover502. In the example embodiment, radiating plates504include radiating plate506, radiating plate508, radiating plate510, radiating plate512, radiating plate514, and radiating plate516. In this configuration, radar unit500may transmit or receive signals through radiating sleeves positioned between each pair of coupled radiating plates506-516as well as between metallic cover502and radiating plate506. In other embodiments, additional metallic covers can be coupled in between and/or relative to radiating plates506-516.

Radiating plates506-516may have the same configuration in some examples. For instance, each radiating plate506-516may resemble radiating plate402shown inFIG.4Band/or another configuration such as one of the options illustrated inFIG.4C. In other examples, the configuration of one or more radiating plates506-516may differ. For instance, some radiating plates may resemble radiating plate402while other radiating plates are implemented in another configuration. The variation in configuration could enable radar unit500to operate using different radiation patterns.

FIG.6illustrates a scenario for using vehicle radar to detect objects in the environment, according to one or more example embodiments. Scenario600involves vehicle602navigating in an environment that is also occupied by vehicle604and vehicle606. During navigation, vehicle602may use radar and other sensors to measure aspects of the environment. For instance, the vehicle radar system of vehicle602may detect stop sign608as well as vehicle604and vehicle606by transmitting radar signals into the environment and receiving radar reflections that bounce off these objects and back towards one or more radar units for reception. As such, the vehicle radar system of vehicle602may include one or more radar units described herein. For instance, the vehicle radar system of vehicle602may include one or more radar units implemented as radar unit400and/or radar unit500.

Vehicle602may include one or more processing units, which may use radar reflections and/or other sensor data to determine information about the environment, such as the location, orientation, approximate size, and motion of each object relative to vehicle602. For instance, a processing unit may cause vehicle602to perform a navigation strategy that factors the information derived using radar and other sensors.

FIG.7is a flowchart of example method700for operating a radar system, according to one or more embodiments. Method700may include one or more operations, functions, or actions, as depicted by one or more of blocks702,704, and706, each of which may be carried out by any of the systems shown in prior figures, among other possible systems.

Those skilled in the art will understand that the flow charts described herein illustrate functionality and operation of certain implementations of the present disclosure. In this regard, each block of the flowchart may represent a module, a segment, or a portion of program code, which includes one or more instructions executable by one or more processors for implementing specific logical functions or steps in the process. The program code may be stored on any type of computer readable medium, for example, such as a storage device including a disk or hard drive.

In addition, each block may represent circuitry that is wired to perform the specific logical functions in the process. Alternative implementations are included within the scope of the example implementations of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrent or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art.

At block702, method700involves transmitting, using a radar unit, radar signals into an environment. The radar unit may be implemented as radar unit400shown inFIG.4Aor radar unit500shown inFIG.5A. The radar unit may be part of a vehicle radar system similar to the example embodiment shown inFIG.6.

As an example, the radar unit may include a radiating plate having a first side and a second side. For instance, the radiating plate may include an illuminator, a waveguide horn, a waveguide opening, and a radiating sleeve that each extend into the first side of the radiating plate. The waveguide opening may be positioned on the first end of the first side and the radiating sleeve may be positioned on the second end of the first side. The radar unit may also include a metallic cover coupled to the first side of the radiating plate such that the metallic cover and the radiating plate form a plurality of waveguide structures. As such, in order to transmit radar signals into the environment, the waveguide horn may be configured to receive, from an external source, electromagnetic energy provided through the waveguide opening via a first waveguide and provide a portion of the electromagnetic energy to the illuminator via a second waveguide such that the portion of the electromagnetic energy radiates off the illuminator and through a radiating sleeve into the environment as the radar signals. The first waveguide may extend parallel to a baseline of the radiating plate.

In some embodiments, the metallic cover is flat and the illuminator, the waveguide horn, the waveguide opening, and the radiating sleeve are etched a threshold depth into the radiating plate. In addition, in some examples, the radar unit may also include a second radiating plate having a first side and a second side with the first side of the second radiating plate having a second illuminator, a second waveguide horn, a second waveguide opening, and a second radiating sleeve that extend into the first side of the second radiating plate. For instance, the first side of the second radiating plate can be coupled to the second side of the radiating plate such that the radiating plate and the second radiating plate form a second plurality of waveguide structures.

In further embodiments, the illuminator includes an arc-shape having a degree of curvature that is configured to reduce a sidelobe level of radar signals transmitted via the radar unit. For instance, the degree of curvature of the illuminator can be based on a focus point of the waveguide horn such that radar signals transmitted by the radar unit have a fan-shaped beam that includes a plus/minus 2.5 degrees on an elevation plane. In addition, the waveguide horn may include a fray opening and the external source may be a PCB configured to supply electromagnetic energy.

At block704, method700involves receiving, using the radar unit, reflections corresponding to the radar signal from the environment. In some examples, receiving reflections may involve receiving the reflections at the radar unit such that the reflections traverse through the radiating sleeve toward the illuminator, reflect off the illuminator and into the waveguide horn, and traverse, via the first waveguide, through the waveguide opening and to an external source.

At block706, method700involves processing the reflections to detect one or more objects in the environment. For example, a processing unit (e.g., computing device300shown inFIG.3) may receive radar reflections from the radar unit and other radar units for processing, which may involve performing a fusion process to determine a 2D map of the environment that indicates information corresponding to objects in the environment around the radar system (e.g., surrounding around a vehicle). In some examples, method700may further involve controlling a vehicle based on the one or more objects in the environment.

FIG.8is a schematic illustrating a conceptual partial view of an example computer program product that includes a computer program for executing a computer process on a computing device, arranged according to at least some embodiments presented herein. In some embodiments, the disclosed methods may be implemented as computer program instructions encoded on a non-transitory computer-readable storage media in a machine-readable format, or on other non-transitory media or articles of manufacture.

In one embodiment, example computer program product800is provided using signal bearing medium802, which may include one or more programming instructions804that, when executed by one or more processors may provide functionality or portions of the functionality described above with respect toFIGS.1-7. In some examples, the signal bearing medium802may encompass a non-transitory computer-readable medium806, such as, but not limited to, a hard disk drive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape, memory, etc. In some implementations, the signal bearing medium802may encompass a computer recordable medium808, such as, but not limited to, memory, read/write (R/W) CDs, R/W DVDs, etc. In some implementations, the signal bearing medium802may encompass a communications medium810, such as, but not limited to, a digital and/or an analog communication medium (e.g., a fiber optic cable, a waveguide, a wired communications link, a wireless communication link, etc.). Thus, for example, the signal bearing medium802may be conveyed by a wireless form of the communications medium810.

The one or more programming instructions804may be, for example, computer executable and/or logic implemented instructions. In some examples, a computing device such as the computer system112ofFIG.1may be configured to provide various operations, functions, or actions in response to the programming instructions804conveyed to the computer system112by one or more of the computer readable medium806, the computer recordable medium808, and/or the communications medium810. Other devices may perform operations, functions, or actions described herein.

The non-transitory computer readable medium could also be distributed among multiple data storage elements, which could be remotely located from each other. The computing device that executes some or all of the stored instructions could be a vehicle, such as vehicle100illustrated inFIGS.1-2E. Alternatively, the computing device that executes some or all of the stored instructions could be another computing device, such as a server.

The above detailed description describes various features and functions of the disclosed systems, devices, and methods with reference to the accompanying figures. While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope being indicated by the following claims.