TECHNIQUES FOR ADAPTIVE COLLECTION OF INFORMATION ABOUT TARGET OBJECTS BASED ON SITUATIONAL AWARENESS DATA

Described herein are techniques for adapting usage of radar devices to collect data about target objects based on situational awareness data. Techniques described herein may involve selecting a radar operational configuration (e.g., waveform type, and/or transmitter and/or receiver configuration) and/or frame rate. According to various embodiments, situational awareness data may be indicative of at least one characteristic relating to a vehicle, a target object, and/or the vehicle's environment such as velocity data indicative of the velocity of the vehicle, velocity data indicative of the velocity of a target object, data indicative of at least one weather condition associated with the vehicle's environment, data indicative of the type of road in which the vehicle is traveling, data indicative of the level of traffic in the vehicle's surroundings. Techniques described herein may be deployed for use in connection with computer-assisted driving modules (e.g., ADAS and autonomous vehicles).

BACKGROUND

Vehicles with Advanced Driver Assistance Systems (ADAS) and Autonomous vehicles, such as self-driving cars, are vehicles equipped with sensors capable of sensing the surrounding environment, which helps the vehicles move without human intervention. Autonomous vehicles have been under development for decades. In recent years, billions have been invested in the pursuit of fully autonomous vehicles. Notwithstanding, the development and deployment of fully autonomous vehicles require significant advances in technology.

SUMMARY

Some embodiments provide for a method of using a radar device to collect data about a target object, the radar device configured to transmit and/or receive RF signals in a plurality of radar operational configurations, the method comprising: obtaining, by processing circuitry of the radar device, situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; selecting, by the processing circuitry, using the situational awareness data for the vehicle and from among the plurality of radar operational configurations, at least one radar operational configuration to use for collecting the data about the target object; transmitting, using a transmitter of the radar device according to the at least one radar operational configuration, one or more RF transmit signals; and receiving, using a receiver of the radar device according to the at least one radar operational configuration, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Some embodiments provide for a radar device for collecting data about a target object, the radar device being configured to transmit and/or receive RF signals in a plurality of radar operational configurations, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; and select, using the situational awareness data for the vehicle and from among the plurality of radar operational configurations, at least one radar operational configuration to use for collecting the data about the target object; a transmitter configured to transmit, according to the at least one radar operational configuration, one or more RF transmit signals; and a receiver configured to receive, according to the at least one radar operational configuration, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Some embodiments provide for a method of using a radar device to collect data about a target object, the radar device configured to transmit a plurality of waveform types having corresponding frequency bandwidths, the method comprising: obtaining, using processing circuitry of the radar device, situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; selecting, using the processing circuitry, using the situational awareness data for the vehicle and from among the plurality of waveform types having corresponding frequency bandwidths, at least one waveform type to use for collecting the data about the target object; transmitting, using the radar device, one or more RF transmit signals having at least one frequency bandwidth corresponding to the at least one waveform type; and receiving, using the radar device, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Some embodiments provide for a radar device for collecting data about a target object, the radar device being configured to transmit a plurality of waveform types having corresponding frequency bandwidths, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, and select, using the situational awareness data for the vehicle and from among the plurality of waveform types having corresponding frequency bandwidths, at least one waveform type to use for collecting the data about the target object; a transmitter configured to transmit one or more RF transmit signals having at least one frequency bandwidth corresponding to the at least one waveform type; and a receiver configured to receive one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Some embodiments provide for a method of using a radar device to collect data about a target object, the radar device configured to transmit of a plurality of waveform types having a corresponding plurality of frequency bandwidths, the method comprising: obtaining, using processing circuitry of the radar device, situational awareness data for a vehicle; generating, using the processing circuitry, one or more range-cross range images of the target object at least in part by: selecting waveform bandwidths to use for imaging the target object based on the obtained situational awareness data for the vehicle; and imaging the target object using one or more RF signals corresponding to the selected waveform bandwidths.

Some embodiments provide for a radar device configured to collect data about a target object least in part by transmitting of a plurality of waveform types having a corresponding plurality of frequency bandwidths, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle; generate one or more range-cross range images of the target object at least in part by: selecting waveform bandwidths to use for imaging the target object based on the obtained situational awareness data for the vehicle; and imaging the target object using one or more RF signals corresponding to the selected waveform bandwidths.

Some embodiments provide for a method of using a radar device to collect data about a target object, the radar device being configurable among a plurality of transmitter configurations, the method comprising: obtaining, using processing circuitry of the radar device, situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; selecting, using the processing circuitry, using the situational awareness data for the vehicle and from among a plurality of transmitter configurations, at least one transmitter configuration to use for collecting the data about the target object; transmitting, using a transmitter of the radar device according to the at least one transmitter configuration, one or more RF transmit signals; and receiving, using a receiver of the radar device, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Some embodiments provide for a radar device for collecting data about a target object, the radar device being configurable among a plurality of transmitter configurations, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, and select, using the situational awareness data for the vehicle and from among the plurality of transmitter configurations, at least one transmitter configuration to use for collecting the data about the target object; a transmitter configured to transmit one or more RF transmit signals according to the at least one transmitter configuration; and a receiver configured to receive one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Some embodiments provide for a method of using a radar device to collect data about a target object, the radar device being configurable among a plurality of receiver configurations, the method comprising: obtaining, using processing circuitry of the radar device, situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment the vehicle; selecting, using the processing circuitry, using the situational awareness data for the vehicle and from among a plurality of receiver configurations, at least one receiver configuration to use for collecting the data about the target object; transmitting, using a transmitter of the radar device, one or more RF transmit signals; and receiving, using a receiver of the radar device in the at least one receiver configuration, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Some embodiments provide for a radar device for collecting data about a target object, the radar device being configurable among a plurality of receiver configurations, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, and select, using the situational awareness data for the vehicle and from among the plurality of receiver configurations, at least one receiver configuration to use for collecting the data about the target object; a transmitter configured to transmit one or more RF transmit signals; and a receiver configured to receive one or more RF receive signals, according to the at least one receiver configuration, generated at least in part by reflection of the one or more RF transmit signals from the target object.

Some embodiments provide for a method of using a radar device to generate a range-cross range image of a target object, the method comprising: using processing circuitry of the radar device: obtaining situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; selecting a frame rate based on the situational awareness data for the vehicle; generating a plurality of range-cross range images corresponding to a respective plurality of frames defined by the frame rate, the generating comprising: for a particular frame of the plurality of frames, generating a respective range-cross range image using one or more RF signals received by the radar device during the particular frame; and outputting the plurality of range-cross range images.

Some embodiments provide for a radar device for generating a range-cross range image of a target object, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; select a frame rate based on the situational awareness data for the vehicle; generate a plurality of range-cross range images corresponding to a respective plurality of frames defined by the frame rate at least in part by: for a particular frame of the plurality of frames, generating a respective range-cross range image using one or more RF signals received by the radar device during the particular frame; and output the plurality of range-cross range images.

DETAILED DESCRIPTION

I. Radar Operational Configurations Based on Situational Awareness

The inventors have developed techniques for adapting how a radar device operates based on the environment in which the radar device is operating. In particular, the inventors have developed techniques for configuring the radar device based on situational awareness data related to a vehicle. Examples of situational awareness data include data indicative of the velocity of the vehicle, data indicative of the velocity of a target object, data indicative of at least one weather condition associated with the vehicle's environment, data indicative of the type of road on which the vehicle is traveling, data indicative of the level of traffic in the vehicle's surroundings, data indicative of whether a particular type of cruise control is activated, etc. The techniques described herein may promote vehicle safety, and may be deployed for example in the context of autonomous vehicles, advanced driver assistance systems (ADAS), or more generally for use in connection with computer-assisted driving modules. Examples of vehicles to which the techniques described herein may be applied include cars, trucks, aircrafts, vertical take-off and landing (VTOL) aircrafts, short take-off and landing (STOL) aircrafts, helicopters, ships, boats, bicycles, motorbikes, spacecrafts, and other types of vehicles.

In some embodiments, radar operational configurations may be selected to balance radar range, precision, field of view, and/or frame rate with constraints on available power. For example, when a vehicle is traveling at high speed (e.g., on a highway), a radar operational configuration with high radar range, low range resolution, low angular precision, moderate field of view, and/or moderate frame rate may be selected so that the radar device may make efficient use of power (e.g., on detecting other vehicles that may be far away, even at lower range resolution). As another example, when a vehicle has low power available (e.g., a low battery in an electric or hybrid-electric vehicle), a radar operational configuration with moderate radar range, moderate precision, moderate field of view, and/or low frame rate may be selected so that the radar device may consume less power while still providing important radar images to the vehicle. As yet another example, when a vehicle is traveling at low speed (e.g., while parking), a radar operational configuration with low radar range, high range resolution, high angular precision, large field of view, and high frame rate may be selected so that the radar device may provide radar images with sufficient resolution for locating and/or identifying target objects likely to be present and to create a safety concern.

The inventors have recognized that accurate and adaptive sensing systems may facilitate widespread and safe operation of autonomous and semi-autonomous vehicles and/or vehicle features (e.g., assisted and/or self-parking modes, semi-automated cruise control, lane departure warning and/or prevention systems, etc.). Conventional vehicle sensing systems, such as conventional radar devices, are not adaptive in that they do not respond to changing vehicle conditions. Another drawback of conventional vehicle sensing systems (e.g., radar, LIDAR, optical) is that they consume a large amount of power, which may preclude incorporation into modern high efficiency vehicles such as electric vehicles, in which energy available for sensing devices may be limited.

Some techniques developed by the inventors overcome these drawbacks by adapting a radar operational configuration of a radar device based on situational awareness. In some embodiments, situational awareness data indicative of a characteristic of a vehicle, a target object, and/or an environment of the vehicle may be used to select a radar operational configuration that is appropriate for the situation. For example, where a vehicle is traveling at low speed (e.g., in a parking mode), an appropriate radar operational configuration may specify short-range, high range resolution, high angular precision, large field of view, and high frame rate radar imaging, such as with the expectation that pedestrians may be near the vehicle. As another example, where a vehicle is traveling at high speed (e.g., on a highway), an appropriate radar operational configuration may specify long range, low range resolution, moderate angular precision, moderate field of view, and moderate frame rate imaging, such as with the expectation that objects on the road are likely to be other vehicles that are far away enough to give a moderately long reaction time to the sensing vehicle. As yet another example, where an object has been detected (e.g., within an elevation and/or azimuth range), an appropriate radar operational configuration may specify a range consistent with the detected range of the object, high (and/or tailored) range resolution, high angular precision, and a field of view tailored to the directional range (e.g., in elevation and/or azimuth) in which the object was detected.

Accordingly, some embodiments provide a method of using a radar device (e.g.,200inFIGS.2A-3B) to collect data about a target object, the radar device configured to transmit and/or receive RF signals in a plurality of radar operational configurations. For example, the radar device may have processing circuitry (e.g.,210), a transmitter (e.g.,220), and a receiver (e.g.,230).

In some embodiments, the method includes obtaining, by the processing circuitry (e.g.,210) of the radar device (e.g.,200), situational awareness data for a vehicle (e.g.,300inFIG.3A). For example, the situational awareness data may be indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle. For example, the situational awareness data may include data selected from a group consisting of: data indicating a velocity of the vehicle, data indicating that the vehicle is in a cruise control and/or lane departure prevention mode, data indicating that the vehicle is parking, data indicating that the vehicle is on a highway, data indicating a low power level of the vehicle, data indicating a distance from the vehicle to the target object, data indicating a velocity of the target object, data indicating an elevation range of the target object with respect to the radar device, data indicating an azimuth range of the target object with respect to the radar device, data indicating a level of traffic in the environment of the vehicle, data indicating a type of road on which the vehicle is traveling, data indicating a weather condition in the environment of the vehicle, and data indicating a hazardous condition in the environment of the vehicle.

In some embodiments, the method may include selecting, by the processing circuitry (e.g.,210) of the radar device (e.g.,200), using the situational awareness data for the vehicle and from among the plurality of radar operational configurations, at least one radar operational configuration to use for collecting the data about the target object. For example, radar operational configurations selectable by the processing circuitry may specify a plurality of waveform types (e.g.,FIGS.5A-5B), a plurality of transmitter configurations (e.g.,FIGS.7-10D), and/or a plurality of receiver configurations (e.g.,FIGS.11-14D). For instance, the waveform types may have different frequency bandwidths (e.g.,FIG.5B) providing different range resolutions, the transmitter configurations may specify different transmit power levels (e.g.,FIGS.9A-9B), different subsets of transmit antenna elements (e.g.,FIGS.9B-9C), and/or different transmit phase shift patterns (e.g.,FIGS.10A-10C) to produce different transmit beams, and/or the receiver configurations may specify different subsets of receive antenna elements (e.g.,FIGS.13A-13B) and/or different receive phase shift patterns (e.g.,FIGS.14A-14C) to produce different receive beams.

In some embodiments, the method may include transmitting, transmitting, using the transmitter (e.g.,220) of the radar device (e.g.,200) according to the radar operational configuration(s), one or more RF transmit signals. For example, the plurality of radar operational configurations may specify a plurality of waveform types (e.g.,FIG.5B) having corresponding frequency bandwidths, the radar operational configuration(s) may specify at least one waveform type of the plurality of waveform types having a corresponding frequency bandwidth, and the RF transmit signal(s) (e.g., transmitted using the transmitter) may have the specified waveform type(s). For instance, where multiple waveform types are specified, RF transmit signals may be transmitted having respective ones of the multiple waveform types over time, such as during a frame and/or over a sequence of frames.

In the same or another example, the transmitter (e.g.,820inFIG.8) may include a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of a transmit antenna array of the transmitter (e.g.,820), the plurality of radar operational configurations may specify a plurality of different subsets of the plurality of transmit antenna elements (e.g.,822inFIGS.9B-9C), the radar operational configuration(s) may specify at least one subset (e.g.,FIG.9Band/orFIG.9C) of the plurality of different subsets, and transmitting the RF transmit signal(s) according to the radar operational configuration(s) may include transmitting the RF transmit signal(s) using the specified subset(s) of the plurality of different subsets of the plurality of transmit antenna elements (e.g.,822). For instance, where multiple subsets of transmit antenna elements are specified, RF transmit signals may be transmitted using different ones of the subsets over time, such as during a frame and/or over a sequence of frames.

In the same or yet another example, the transmitter (e.g.,820inFIG.8) may include a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of a transmit antenna array of the transmitter (e.g.,820), the plurality of radar operational configurations may specify a plurality of different transmit phase shift patterns (e.g.,FIGS.10A-10C) for transmitting the RF transmit signal(s) via the plurality of transmit antenna elements (e.g.,822), the radar operational configuration(s) may specify at least one transmit phase shift pattern (e.g.,FIG.10A,FIG.10B, and/orFIG.10C) of the plurality of different transmit phase shift patterns, and transmitting the RF transmit signal(s) according to the radar operational configuration(s) may include transmitting the RF transmit signal(s) according to the specified transmit phase shift pattern(s). For instance, where multiple transmit phase shift patterns are specified, RF transmit signals may be transmitted using different ones of the multiple transmit phase shift patterns over time, such as during a frame (e.g., to produce a first sweep over a first angular field of view) and/or over a sequence of frames (e.g., to produce multiple sweeps of respective angular fields of view during respective frames).

In some embodiments, the method may include receiving, using the receiver (e.g.,230) of the radar device (e.g.,200) according to the radar operational configuration(s), one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object. For example, where the radar operational configuration(s) specify at least one receiver configuration, such as a subset of receive antenna elements and/or a receive phase shift pattern, the RF receive signal(s) may be received according to the specified receiver configuration(s). For example, the receiver (e.g.,1230inFIG.12) may include a plurality of receive antenna elements (e.g.,1232) arranged along a dimension (e.g., azimuth) of a receive antenna array of the receiver (e.g.,1230), the plurality of radar operational configurations may specify a plurality of different subsets (e.g.,FIGS.13A-13B) of the plurality of receive antenna elements (e.g.,1232), the radar operational configuration(s) may specify at least one subset (e.g.,FIG.13Aand/orFIG.13Bof the plurality of different subsets, and receiving the RF receive signal(s) according to the radar operational configuration(s) may include receiving the RF receive signal(s) using the specified subset(s) of the plurality of different subsets of the plurality of receive antenna elements (e.g.,1232). For instance, where multiple subsets of receive antenna elements are specified, RF receive signals may be received using different ones of the subsets over time, such as during a frame and/or over a sequence of frames.

In the same or another example, the receiver (e.g.,1230) may include a plurality of receive antenna elements (e.g.,1232) arranged along a dimension (e.g., azimuth) of a receive antenna array of the receiver (e.g.,1230), the plurality of radar operational configurations may specify a plurality of different receive phase shift patterns (e.g.,FIGS.14A-14C) for receiving the RF receive signal(s) via the plurality of receive antenna elements (e.g.,1232), the radar operational configuration(s) may specify at least one receive phase shift pattern (e.g.,FIG.14A,FIG.14B, and/orFIG.14C) of the plurality of different receive phase shift patterns, and receiving the RF receive signal(s) may include receiving the RF receive signal(s) according to the specified receive phase shift pattern(s). For instance, where multiple receive phase shift patterns are specified, RF receive signals may be received using different ones of the multiple receive phase shift patterns over time, such as during a frame (e.g., to produce a first sweep over a first angular field of view) and/or over a sequence of frames (e.g., to produce multiple sweeps of respective angular fields of view during respective frames).

In some embodiments, the method may further include generating, using processing circuitry (e.g.,210) of the radar device (e.g.,200) according to the radar operational configuration(s), using the RF receive signal(s), a range-cross range image of the target object. For example, the plurality of radar operational configurations may specify a plurality of frame rates, the radar operational configuration(s) may specify at least one frame rate of the plurality of frame rates, and generating the range-cross range image may use the RF receive signal(s) received during a frame defined by the specified frame rate(s). For instance, the RF transmit signal(s) may be transmitted before and/or during the frame (e.g., with multiple RF transmit signals being swept over an angular field of view), the RF receive signal(s) may be received during the frame (e.g., with multiple RF receive signals being received over an angular field of view), and the range-cross range image may use the RF receive signal(s).

In some embodiments, the vehicle is a car. In other embodiments, the vehicle may be a boat or aircraft. In some embodiments, the RF transmit signal(s) may have frequency content in a frequency band of 300 GHZ-3 THz.

FIG.1illustrates an example sensing system100including a radar device106mounted on a vehicle102, in accordance with some embodiments of the technology described herein.

Although radar device106is shown as being attached to the front bumper of a vehicle102, embodiments of the present technology are not limited to any particular location. Further, vehicles may be equipped with more than one radar device106. For example, a radar device may be attached to the front side of the vehicle, and another radar device may be attached to the rear side.

In some embodiments, radar device106may include a transmitter, a receiver and processing circuitry (e.g., analog and/or digital circuitry). For example, the transmitter may be configured to transmit RF signals in directions where target objects are likely to be present. For example, RF signals may be transmitted along the road in front of a vehicle. Similarly, the receiver may be configured to receive RF signals resulting from the reflection of transmitted RF signals from a target object104. InFIG.1, for example, transmitted signals may be reflected from the rear side of another vehicle. In some embodiments, the processing circuitry may be configured to use the received RF signals to determine the relative and/or absolute location of the target object and/or to produce images (e.g., range-cross range images). In some embodiments, the position (and/or velocity) of a target object may be determined based on a measurement of distance relative to the known location of the radar device (and/or based on Doppler shift measurements). In some embodiments, a computer-assisted driving module may use the data obtained using the radar device to automatically control the vehicle in some respect (e.g., to self-drive the vehicle without human intervention or with some degree of human intervention) or to perform other automated operations.

FIG.1further shows an x-y-z coordinate system as applied to the illustrated scene. The x-axis will be referred to herein as the horizontal axis or azimuth axis, the y-axis as the vertical axis or elevation axis, and the z-axis as the longitudinal axis or range axis. In the illustrated embodiment, the z-axis is an axis along which the vehicle102is separated from the target object104. In some embodiments, a transmitter and/or receiver of radar device106may have an array of antenna elements arranged along the x-axis (e.g., to focus transmission and/or reception in the x-z or azimuth plane) and/or arranged along the y-axis (e.g., to focus transmission and/or reception in the y-z or elevation plane).

FIG.2Aillustrates an example radar device200transmitting an RF signal202and receiving an RF signal204, in accordance with some embodiments of the technology described herein.

As shown inFIG.2A, the radar device200has a transmitter (TX)220and a receiver (RX)230. In some embodiments, TX220may include transmit circuitry (analog and/or digital) configured to generate RF transmit signals (e.g., pulses, as shown inFIG.2A) for transmission via a transmit antenna array. In some embodiments, RX230may include receive circuitry (analog and/or digital) configured to receive RF signals via a receive antenna array, the RF receive signals generated at least in part by reflection of RF transmit signals from a target object206.

Also shown inFIG.2A, the radar device200includes processing circuitry210. In some embodiments, processing circuitry210may include analog and/or digital circuitry and/or may be implemented, for example, using one or more field programmable gate arrays (FPGA), one or more application-specific integrated circuits (ASICs), one or more processors, and/or one or more microcontrollers. In some embodiments, processing circuitry210may be configured to control operation of radar device200, such as to control timing of RF signal transmission and/or reception, and/or processing circuitry210may be configured to process data obtained by radar device200, such as to generate range-cross range images using received RF signals. According to various embodiments, processing circuitry210may be packaged on the same printed circuit board hosting the transmit and/or receive circuitry of radar device200, and/or processing circuitry210may be packaged separately therefrom.

FIG.2Billustrates, in a graph250, an example of a pulse that may be transmitted by the radar device200, in accordance with some embodiments of the technology described herein. In the example ofFIG.2B, the illustrated pulse is a chirp. For instance, the illustrated pulse may be modulated with a carrier signal having a time-varying frequency (e.g., increasing or decreasing linearly over time). It should be appreciated that other types of pulses may be transmitted depending on the embodiment. In some embodiments, a response pulse may be generated upon reflection of a transmitted pulse from target object206. For example, each response pulse may carry information about the reflected power at each frequency in the frequency range of the pulse. For instance, frequency content of the response pulse may indicate a time of reception of the response pulse, which in turn may indicate a distance to the target object206.

FIG.3Aillustrates an example vehicle300equipped with the radar device200and other components that are communicatively coupled to the radar device200, in accordance with some embodiments of the technology described herein.

As shown inFIG.3A, the vehicle300is further equipped with a velocity sensor342, a weather sensor344, a cruise control module346, an internet module348, a display350, and a computer-assisted driving module352. In some embodiments, processing circuitry210of radar device200may be coupled to some or all of the foregoing components.

In some embodiments, processing circuitry210may be coupled to display350, which in some embodiments may be used to display range-cross range images generated by processing circuitry210using radar device200. In some embodiments, processing circuitry210may be configured to obtain situational awareness data from velocity sensor324, weather sensor344, cruise control module346and/or internet module348.

In some embodiments, processing circuitry210may be configured to provide data generated using radar device200as an input to computer-assisted driving module352, such as to be used to inform and/or perform computer-assisted driving tasks. For instance, computer-assisted driving module352may be configured to perform computer vision tasks such as object detection, lane boundary detection, and/or traffic sign recognition. In some embodiments, a computer-assisted driving module352may be configured to execute a neural network (e.g., a convolutional neural network). For example, training data for the neural network may include annotated datasets, in which images or video frames are labeled (e.g., manually) with relevant objects or features to be classified. For instance, the neural network may be trained to recognize patterns and features from the labeled examples. According to various embodiments, a neural network may be trained with data representing several different environments (e.g., with vehicles moving at different velocities, with target objects moving at different velocities, with different weather conditions, with different types of roads, with different levels of traffic, with a cruise control that is activated or deactivated, etc.). In some embodiments, a computer-assisted driving module352may be alternatively or additionally configured to control the vehicle300to allow the vehicle300to drive itself, with (e.g., semi-autonomously) or without (e.g., fully autonomously) some degree of human intervention.

It should be noted that a vehicle may include any combination of components shown coupled to radar device200. Some embodiments, for example, may omit velocity sensor342, weather sensor344, cruise control module346, internet module348, computer-assisted driving module352and/or display350.

FIG.3Billustrates radar device200further showing components of processing circuitry210configured to select among radar operational configurations, in accordance with some embodiments of the technology described herein. Also further shown inFIG.3B, radar device200includes digital RX circuitry240, which may be configured to perform at least some processing of RF signals received via RX230, such as conversion from analog to digital representation for further processing by processing circuitry210.

According to various embodiments, processing circuitry210may be configured to use TX220and/or RX230according to a selected radar operational configuration. For example, a radar operational configuration may specify a transmitter configuration according to which to use TX220and/or a receiver configuration according to which to use RX230.

As shown inFIG.3B, processing circuitry210includes operational configuration selection circuitry212, which may be configured to select at least one radar operational configuration based on situational awareness data. For instance inFIG.3B, operational configuration selection circuitry212is shown configured to select from among first, second, and third radar operational configurations. In the illustrated embodiment, processing circuitry210is shown configured to output a control signal214to TX220and/or230, which may cause TX220and/or RX230to operate according to the selected radar operational configuration.

As shown inFIG.3B, situational awareness data may be indicative of at least one characteristic of the vehicle300, at least one characteristic of a target object (e.g.,206), and/or at least one characteristic of an environment of the vehicle300. According to various embodiments, the environment of the vehicle may include the environment presently surrounding the vehicle and/or the environment in which the vehicle is expected to be at some point in the future (e.g., based on a positional estimate obtained from an electronic navigation system).

In one example, the situational awareness data may include velocity data that is indicative of the velocity of the vehicle. For example, the velocity data may include information about the current velocity of the vehicle, the velocity of the vehicle at some time in the past, the projected velocity of the vehicle at some time in the future and/or the velocity of the vehicle averaged over an appropriate time interval, among other examples. According to various embodiments, radar device200may be configured to obtain velocity data from any suitable source, including for example from velocity sensor342(FIG.3A), which may determine the velocity of vehicle300and may be implemented as a vehicle speed sensor (VSS), a transmission speed sensor, an accelerometer, a gyroscope and/or an electronic navigation system (e.g., GPS).

Alternatively or additionally, radar device200may be configured to determine the velocity of the vehicle, such as using Doppler radar processing techniques on one or more received RF signals. For example, radar device200may be configured to determine the velocity of the target object (e.g.,106) relative to the velocity of the vehicle300, such as using Doppler radar processing techniques, for example by measuring the Doppler shift of a received RF signal reflected from the target object relative to the RF signal transmitted by radar device200.

In the same or another example, the situational awareness data may include cruise control data indicative of the condition of a cruise control for the vehicle. For example, in cruise control mode, the vehicle may maintain a set velocity in a static fashion or in adaptive fashion (e.g., based on further maintaining a set distance from another vehicle). In some embodiments, cruise control data may indicate whether cruise control is activated or deactivated, including which particular types of control are activated and which ones are deactivated. Additionally, or alternatively, the cruise control data may indicate the velocity and/or distance to another vehicle set to maintained by the cruise control. Cruise control data may be obtained from cruise control module346, which in turn may be configured to perform cruise control operations.

In the same or another example, situational awareness data may include lane departure data indicative of a condition of a lane departure warning and/or departure prevention mode of the vehicle. For example, in a lane departure warning mode, the vehicle may warn an operator if the vehicle has departed, is departing, and/or is expected to depart from the lane in which the vehicle is traveling. In a lane departure prevention mode, the vehicle may keep the vehicle within the boundaries of its lane of travel. In some embodiments, lane departure warning and/or prevention data may be provided from a lane departure warning and/or prevention module (not shown).

In the same or another example, the situational awareness data may include traffic data indicative of a level of traffic associated with the vehicle's environment. The traffic data may indicate a level of traffic in the present surroundings of the vehicle and/or in the area where the vehicle is expected to be at some point in the future (e.g., using an electronic navigation system). The traffic data may indicate, for example, whether traffic is heavy, moderate, or light. Radar device200may be configured to obtain traffic data from any suitable source, such as from internet module348(on the basis of data indicative of the vehicle's present and/or expected location). Internet module348may be a module configured to wirelessly connect to the internet, to download data from the internet and/or to upload data to the internet.

In the same or another example, the situational awareness data may include road data indicative of the type of road associated with the vehicle's environment. The road data may indicate the type of road in the present surroundings of the vehicle and/or in the area where the vehicle is expected to be at some point in the future (e.g., using an electronic navigation system). The road data may indicate, for example, whether the road is a highway, a strect in an urban environment, a street in a rural environment, a street in a residential environment, a roundabout, a parking lot, a road junction, a service road, etc. Additionally, or alternatively, the road data may indicate how many road lanes are present. Radar device200may be configured to obtain road data from any suitable source, such as from internet module348(on the basis of data indicative of the vehicle's present and/or expected location) or maps stored within a memory coupled to processing circuitry210(not shown).

In the same or another example, the situational awareness data may include weather data indicative of at least one weather condition associated with the vehicle's environment. The weather data may indicate at least one weather condition in the present surroundings of the vehicle and/or in the area where the vehicle is expected to be at some point in the future (e.g., using an electronic navigation system). The weather data may provide information about the weather qualitatively (e.g., whether it is rainy, foggy, snowy, dry, etc.) and/or quantitatively (e.g., precipitation rate, temperature, humidity, pressure, etc.). Radar device200may be configured to obtain weather data from any suitable source, such as from internet module348(on the basis of data indicative of the vehicle's present and/or expected location) and/or from weather sensor344(which may include a humidity sensor, a temperature sensor and/or a pressure sensor).

FIG.4illustrates an example radar device400having a TX420with a transmit antenna array and a RX430with a receive antenna array, in accordance with some embodiments of the technology described herein. As shown inFIG.4, radar device400includes a substrate402having processing circuitry410, signal generation circuitry450, TX420, RX430, and digital RX processing circuitry440thereon.

In some embodiments, TX420and RX430may be disposed on substrate402. For example, TX420and RX430may be mounted directly on substrate402. In some embodiments, TX420and RX430may have components on one or more semiconductor dies that are mounted on substrate304. For example, as shown inFIG.4, TX420has a transmit antenna array including transmit antenna elements422, which may be disposed on a plurality of transmit semiconductor dies mounted on substrate402. Similarly, as shown inFIG.4, RX430has a receive antenna array including receive antenna elements432, which may be disposed on a plurality of receive semiconductor dies mounted on substrate402. In some embodiments, semiconductor dies of TX420and/or RX430may be mounted directly on substrate402, and/or may be mounted one or more interposers, with the interposer(s) mounted directly on substrate402.

As shown inFIG.4, TX420has a transmit antenna array including transmit antenna elements422. Each transmit antenna element may be sized to emit signals having frequency content in the frequency band of 300 GHz-3 THz or any frequency band within the 300 GHz-3 THz band (e.g., 190-300 GHz, 300-320 GHZ, 307-313 GHZ, 390-450 GHZ, 440-480 GHz, 455-495 GHZ, or 820-880 GHZ). For example, transmit antenna elements422may be sized to emit signals having frequency content in the frequency band of 300-320 GHz or 307-313 GHz. In some embodiments, transmit antenna elements described herein may have a frequency bandwidth (e.g., 3 dB bandwidth) of 1 GHz-4 GHZ, 1.5 GHZ, 3 GHZ, 4 GHZ-134 GHz, 4 GHZ-100 GHz, 4 GHZ-60 GHz, 10 GHz-100 GHz, 10 GHZ-60 GHz, 10 GHz-30 GHz, 15 GHZ-60 GHz, 10 GHz-30 GHz or 15 GHZ-25 GHz. Similarly, RX430has receive antenna elements432that may be sized to receive signals having frequency content in a frequency band of 300 GHz-3 THz or any sub-band of this frequency band. For example, in some embodiments, receive antenna elements432may be sized to receive signals having frequency content in a frequency band of 300-320 GHz or 307-313 GHz. In some embodiments, receiver330has a frequency bandwidth of 10 GHZ-60 GHz, 10 GHZ-30 GHz, 15 GHZ-60 GHz, 10 GHZ-30 GHz or 15 GHZ-25 GHZ.

In some embodiments, TX420may be configured to transmit RF signals outside the plane defined by the top surface of substrate402(e.g., parallel to the z-axis or at any angle relative to the z-axis other than 90 deg.). For example, a transmit antenna array of TX420may be shaped to have a main lobe extending away from the plane defined by the top surface of substrate402. Similarly, RX430may be configured to receive the transmitted signals upon reflection from a target object. For example, a receive antenna array of RX430may be shaped to have a main lobe extending away from the plane defined by the top surface of substrate402.

In some embodiments, TX420may have multiple columns of transmit antenna elements extending in one direction and spaced from one another in an orthogonal direction. For example, as shown inFIG.4, a first pair of columns of transmit antenna elements422aextends along the y direction and a second pair of columns of transmit antenna elements422bextend along the y direction and are spaced from the first pair of columns along the x direction.

In some embodiments, digital RX circuitry440may be configured to offload signals from RX430and provide the offloaded signals to processing circuitry410. For example, digital RX circuitry440may include ADC circuitry coupled to RX430. In some embodiments, ADC circuitry may be implemented using mixed-signal ASICs (e.g., having AFE components of RX430and ADC components of digital RX circuitry440coupled to processing circuitry410). In some embodiments, digital RX circuitry440may be mounted on substrate402, either directly, or on an interposer. Alternatively or additionally, at least some AFE and/or ADC circuitry may be located in a same integrated circuit package (e.g., on the same die(s)) as processing circuitry410. For instance, processing circuitry410may include an FPGA and/or ASIC having ADC circuitry therein.

In some embodiments, processing circuitry410may include digital circuits and/or analog circuits configured to determine the relative and/or absolute state of a target object based on the reflected signals received from the RX430and/or to generate range-cross range images using the reflected signals. Processing circuitry410may be mounted on substrate402, such as shown inFIG.4(e.g., on another die such as an FPGA, ASIC, and/or processor), and/or processing circuitry410may be integrated on a semiconductor die of RX430, or, at least in part, on another substrate.

In some embodiments, processing circuitry410may be configured to control operation of radar device400. For example, as shown inFIG.4, processing circuitry410may be configured to provide a control signal412to signal generation circuitry450that controls signal generation circuitry450to generate a reference RF signal (e.g., having a selected waveform type) for transmission and/or reception using TX420and/or RX430. In some embodiments, processing circuitry410may be alternatively or additionally configured to operate various components of radar device200(e.g., TX420, RX430, digital RX circuitry440) according to a selected radar operational configuration.

The techniques described herein may be used in connection with any suitable frequency, including with millimeter waves, Terahertz frequencies and optical frequencies. Some embodiments relate to radar devices operating in the Terahertz band. The term “Terahertz” is used herein to refer to radio-frequency signals having frequency content in the 300 GHz-3 THz band.

Building reliable sensing capabilities for autonomous vehicles has been a major challenge for decades. Unfortunately, engineers have not identified a single type of sensor capable of effectively monitoring the surrounding environment in all conditions (e.g., rain, snow, fog, night, dense environments, etc.). As a result, the conventional approach is to equip vehicles with multiple types of sensors rather than relying on a single type of sensor. For example, a vehicle may be equipped with optical sensors (e.g., video cameras, infrared cameras), radio-frequency sensors (e.g., radar sensors), and LIDAR sensors. This approach is based on the idea that having a diverse set of sensors provides better coverage than what any sensor can provide individually, as each sensor has advantages and disadvantages.

Optical sensors, for example, allow vehicles to maintain a 360° view of the external environment. Significant progress has been made in recent years in camera-related technologies, with ever-increasing resolutions being available at lower prices than previously possible. With the aid of sophisticated post-processing techniques, often involving machine learning, optical sensors can detect and identify objects in the vicinity of a vehicle. The ability of an optical sensor to distinguish colors improves the camera's ability to distinguish dangerous situations from less risky circumstances. For example, a camera can easily identify other vehicles, pedestrians, cyclists, traffic signs and signals, guardrails, etc. Unfortunately, optical sensors are still far from being perfect. First, poor weather conditions (e.g., darkness, rain, snow, fog) significantly reduce image quality, which significantly degrades the optical sensor's ability to detect target objects in the roadway. Image quality is also degraded when there is low contrast among objects or when objects blend in with the background (e.g., during particularly sunny days). Second, cameras generate inherently two-dimensional data, with depth or distance information not being measured directly. Instead, depth or distance information can be obtained only after further signal processing is performed on the collected image and/or video data, which can be computationally demanding.

Conventional radar sensors used in autonomous vehicles operate in the millimeter wave band (i.e., 30 GHz-300 GHz), or at even lower frequencies. For example, one conventional radar sensor operates in the 76 GHZ-81 GHz frequency band. Because of the (relatively long) wavelengths implied by operating in this frequency range, conventional radar sensors have limited spatial (e.g., range and angular) resolution. Indeed, conventional radar sensors used in the automotive context have range resolutions on the order of 10 to 10's of centimeters and horizontal angular resolutions of about 3° to 20°. As a result, while conventional radar sensors can identify the presence of some target object, they cannot reliably identify the nature or shape of the target object. For example, such a conventional radar sensor may be unable to distinguish a pedestrian from a vehicle or a road signal. An angular resolution of about 1° or less (in some applications as low as 0.1°) is necessary to distinguish the types of target objects typically encountered on roads.

LIDAR (light detection and ranging) sensors operate similarly to radar sensors, but at optical frequencies (e.g., in the infrared or visible portions of the electromagnetic spectrum) rather than radio frequencies. The location of an object is determined by transmitting a laser beam and by measuring the time taken for the reflected beam to hit the receiver. Because light is characterized by wavelengths that are substantially shorter than the wavelengths at which conventional automotive radar sensors operate, LIDAR sensors have finer spatial resolutions.

However, LIDAR sensors also have a number of drawbacks. First, they are significantly more susceptible to rain than radar sensors. This is because the size of rain droplets is comparable to the wavelength at which LIDAR sensors operate. In heavy rain, light emitted from the transmitter is scattered by rain droplets, which leads to unwanted echoes. Second, LIDAR sensors are susceptible to sunlight, which can lead to detector saturation that, in turn, reduces a LIDAR sensor's ability to detect objects. Thus, LIDAR sensors work better at night. Third, use of moving parts such as microelectromechanical systems (MEMS) and rotating mirrors make LIDAR sensors particularly expensive.

The inventors have recognized that the conventional approach of using a combination of different types of sensors (e.g., cameras, millimeter wave radar sensors, LIDAR sensors) offers limited performance at a very high cost. Combining millimeter-wave radar data with LIDAR data is computationally demanding (and as a result, costly), especially because such computations must be performed in real time. Typically, millimeter-wave radar data and LIDAR data are combined using sensor fusion algorithms (e.g., iterative state space algorithms such as Kalman filters, extended Kalman filters, particle filters, etc.) that can leverage the benefits of each these technologies to produce meaningful information about the dynamic properties of a target object, such as velocity, angle, and location. Unfortunately, the computational complexity necessary to run fusion algorithms can be prohibitively high, primarily due to their non-linear and iterative nature. As a result, vehicles must be equipped not only with multiple types of sensors, which is expensive in its own right, but also with powerful computers to fuse their measurements, which increases cost further so as to become impractical. Alternatively, using only some of these conventional sensors and/or a less computationally demanding fusion algorithm, results in coverage gaps (e.g., in conditions when the deployed sensors are insufficient or when the computational complexity of fusion algorithms is so high that the refresh rate for updates is too low).

Accordingly, the inventors have developed a new sensing technology for automotive and other autonomous vehicle applications that addresses the above-described shortcomings of conventional sensors and sensor fusion techniques. In particular, the inventors have developed novel radar sensors operating in the Terahertz band, which allows the sensors to combine some of the advantages of radar and LIDAR sensors (because THz radiation behaves in part similarly to millimeter wave RF signals and in part similarly to infrared light) while avoiding the need to employ computationally expensive fusion algorithms. The sensing technology developed by the inventors can be deployed on vehicles (e.g., cars, whether or not fully autonomous) to aid with safety and operation and, in some embodiments, may replace conventional radar and the LIDAR sensors altogether. It should be noted, however, that, in some embodiments, the sensing technology developed by the inventors may be used in conjunction with one or more conventional sensors (e.g., cameras, radar, LIDAR, etc.), as aspects of the technology described herein are not limited in this respect.

Moreover, the sensing technology developed by the inventors improves upon conventional radar and LIDAR sensors. For example, because the sensing technology developed by the inventors operates in the Terahertz band, it achieves a spatial resolution that is significantly better than what is possible with conventional radar sensors. For example, the sensing technology developed by the inventors achieves range resolutions in the order of 7 mm to 10 cm, and angular resolutions in the order of 0.05° to 1°. This means that these systems can distinguish objects separated along the propagation axis by distances as short as 8 mm, for example, or angularly separated by 0.1°, for example. As discussed above, conventional radar sensors can only achieve range resolutions in the order of several centimeters and angular resolutions of about 3° to 20°, which is insufficient for automotive and other applications.

As another example, the sensing technology developed by the inventors is less susceptible than LIDAR sensors to scattering due to rain because Terahertz signals have longer wavelengths relative to infrared signals. Although Terahertz signals are generally more susceptible than millimeter waves to rain, Terahertz signals are less sensitive to variations in rain rate. As yet another example, Terahertz-based active sensing systems are less susceptible than LIDAR sensors to sunlight. The vast majority of the solar energy is concentrated in the visible and infrared regions, from about 300 nm to about 2000 nm. This is why LIDAR sensors that operate in this region are particularly susceptible to sunlight. By contrast, Terahertz signals, having wavelengths between 100 μm and 1 mm, are virtually immune to sunlight.

The Terahertz-based active sensing systems described herein may be used in autonomous vehicles as well as in other contexts.

Applications across a variety of industries have been forced to rely on traditional sensors (cameras, LIDAR, and conventional radar) despite increasing requirements for advanced autonomy, safety and capability. While functional, these traditional sensors have several problems, as discussed above. To enable the next generation of products, new capability is needed to correctly perceive the surrounding environment. The technology described herein unlocks a variety of new applications including new types of medical imaging (e.g., cancer detection and non-ionizing dental imaging prior to treatment). Security applications can also be enhanced by the new types of perception, detecting objections like guns or knives, while preserving privacy of the individual. The technology described herein extends to providing robust perception of autonomous platforms, including vehicles such as cars, trucks, aircraft, ships and spacecraft, regardless of the weather, temperature, dust, or lighting. This robustness unlocks true autonomy in a comprehensive, safe manner in a variety of environments.

Some embodiments apply the waveform type selection techniques described herein to radar devices operating in the millimeter waves, as not all embodiments are limited to use with Terahertz frequencies. In such embodiments, radio-frequency signals may have frequency content in the 100 GHz-300 GHz band. For example, the center frequency may be between 100 GHz and 140 GHz (e.g., approximately 120 GHZ), between 180 GHz and 220 GHz (e.g., approximately 200 GHz), or between 230 GHz and 270 GHz (e.g., approximately 250 GHz).

II. Selection of Waveform Types

As mentioned above, the inventors have developed techniques for adapting an operational configuration of a radar device based on situational awareness indicative of at least one characteristic of a vehicle. For example, situational awareness data indicative of a characteristic of a vehicle, a target object, and/or an environment of the vehicle may be used to select a radar operational configuration that is appropriate for the situation. The inventors have recognized that waveform types (e.g., for transmission via a TX) may be selected based on situational awareness data to balance radar precision with constraints on available power and/or computational resources. For instance, a waveform may have a frequency bandwidth (e.g., over the course of a pulse duration), that may define range resolution over the longitudinal range of transmission. The inventors have recognized that a fine range resolution may be balanced with computational load stemming from large amounts of receive data corresponding to distance over the longitudinal range (e.g., at frequencies within the bandwidth of a transmitted waveform).

In some embodiments, capturing images (e.g., range-cross range images) with fine range resolutions can increase the ability of a computer-assisted driving module to take prompt action in dangerous circumstances. A fine range resolution provides a higher capability to distinguish objects from one another in the traveling direction. A coarse range resolution, on the other hand, provides a lower capability to distinguish objects. For example, a range resolution of 8 mm allows the system to distinguish two objects so long as the objects are at least 8 mm apart relative to the traveling direction. Thus, finer range resolutions are beneficial in that they provide more accuracy. Furthermore, finer range resolutions can improve accuracy in Doppler shift measurements.

However, the inventors have recognized and appreciated a drawback resulting from the use of fine range resolutions in radar systems. As the range resolution is increased, larger and larger amounts of data are produced. The data need to be stored somewhere, thus increasing the requirements for memory, and need to be processed, thus increasing the requirements for computational power. However, increasing the memory or the computational power available to a radar device may be impractical, given that the space requirements for radar devices in autonomous vehicle applications are particular stringent.

For purposes of illustration, a radar device configured to generate frames with a spatial resolution of 3 cm in a range of 0 to 200 m at a sampling rate of 20 MSa/s per analog-to-digital converter (ADC) produces, assuming a 12-bit resolution and 416 ADCs, about 100 GB/s of data. Storing and processing this amount of data using hardware integrated on a vehicle is impractical.

Recognizing the need to reduce the amount of data to be stored and processed, the inventors have developed techniques that provide finer range resolutions where doing so is likely to meaningfully improve the ability of a computer-assisted driving module to avoid dangerous situations. On the other hand, coarser range resolutions are provided where dangerous situations are less likely. Situational awareness data, examples of which are described herein, are used to identify potentially dangerous situations that warrant finer range resolutions.

In one example, range resolution is varied depending on velocity data indicative of the velocity of the vehicle. The velocity of a vehicle can be used as a potential indicator to identify the likelihood of sudden events warranting immediate action by the vehicle. The lower the velocity, the higher the likelihood that other vehicles are relatively close to the vehicle. For example, a vehicle traveling at a velocity of less than 30 mph is typical in circumstances in which the vehicle is accelerating upon stopping at a red light, where vehicles tend to closely cluster to one another. Reaction times on the order of a few seconds are often necessary to avoid collisions if unexpected events occur. For example, a pedestrian unexpectedly crossing a street immediately after the light has turned green (for the vehicles) may cause a vehicle to stop abruptly, leading to a potentially dangerous situation. Given the relatively short reaction times necessary to avoid collisions, these circumstances warrant greater range resolutions. On the other hand, velocities beyond 70 mph are more typical in highways, where vehicles tend to be farther away from each other. Unexpected events in these circumstances tend to be more forgiving in terms of reaction times. For example, in a highway setting, several seconds may be sufficient to adjust the course of a vehicle when another vehicle unexpectedly moves from one lane to another. Given the longer reaction times necessary to avoid collisions, the range resolution can be relaxed in these circumstances. As a result, the amount of data being collected is decreased.

In another example, range resolution may be adjusted depending upon weather data. Rainy and foggy conditions tend to be more dangerous than drier conditions, often requiring reaction times in the order of 3 seconds or less in order to avoid a collision. The higher the precipitation rate, the higher the danger. Thus, in some embodiments, range resolution may be varied depending upon a weather condition in the surroundings of a vehicle. Other examples of situational awareness data include data indicative of the velocity of target objects, data indicative of the type of road in which the vehicle is traveling, data indicative of the level of traffic, etc.

In some embodiments, range resolution may be varied by varying the frequency bandwidth of the radio-frequency (RF) signals transmitted by a radar device. The larger the bandwidth, the finer the range resolution. A set of waveform types may be defined in some embodiments, where each waveform type has a different frequency bandwidth. Depending upon the situational awareness data, one or more waveform types may be selected for transmission by the radar device. Selection of a particular waveform type leads the radar device to transmit RF signals with a bandwidth corresponding to the selected waveform type.

Accordingly, some embodiments relate to a method of using a radar device to collect data about a target object. The radar device is configured to transmit a plurality of waveform types having corresponding frequency bandwidths. The method involves obtaining situational awareness data for the vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle (e.g., velocity or cruise control activation), at least one characteristic of the target object (velocity), and/or at least one characteristic of the vehicle's environment (e.g., weather, traffic, type of road). The method further involves selecting, using the situational awareness data for the vehicle and from among the plurality of waveform types having corresponding frequency bandwidths, at least one waveform type to use for collecting data about the target object. Having different frequency bandwidths, the waveform types produce different range resolutions. The method further involves transmitting, using the radar device, one or more RF transmit signals having at least one frequency bandwidth corresponding to the selected at least one waveform type. In some embodiments, the transmitted RF signals are chirped (pulses with time-varying frequencies). The method further involves receiving, using the radar device, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object. In some embodiments, the received information may be used to produce images (e.g., range-cross range images) and/or may be provided as input to a computer-assisted driving module.

FIG.5Aillustrates an example radar device500having processing circuitry510configured to select among waveform types for transmitting via a transmit antenna array, in accordance with some embodiments of the technology described herein. In some embodiments, radar device500may be configured in the manner described herein for radar device200. For example, in the illustrated embodiment, radar device500further includes TX520shown including a transmit antenna array522, RX530shown including a receive antenna array532, and digital RX circuitry540shown coupled to RX530.

As shown inFIG.5A, processing circuitry510includes waveform selection circuitry512, which may be configured to select one or more waveform types for transmission via transmit antenna array522based on situational awareness data, such as described herein for processing circuitry210. For example, the situational awareness data may be indicative of at least one characteristic of the vehicle (e.g.,300), at least one characteristic of the target object (e.g.,206), and/or at least one characteristic of the vehicle's environment.

In some embodiments, waveform selection circuitry512may be configured to select one or more waveform types for transmission by transmit antenna array522, and to send a control signal514to control transmission using the selected waveform type(s). For example, control signal514may be sent to signal generation circuitry (e.g.,450) for generating the selected waveform type(s) to be provided to the transmit antenna array522for transmission. For instance, the control signal514and/or signal generated by the signal generation circuitry may be further provided to RX530, such as for use in demodulating a received RF signal generated, at least in part, based on reflection of a transmitted RF signal having the selected waveform type(s) from a target object. In some embodiments, selection may be based on the situational awareness data obtained by processing circuitry710. In the illustrated embodiment, waveform selection circuitry512is shown configured to select from among first, second, and third waveform types, although any other suitable numbers of selectable waveform types are possible.

In some embodiments, selection of a particular waveform type (e.g., over another waveform type) may determine the range resolution of radar device500(e.g., the spatial resolution with respect to the z-axis ofFIG.1). For example, a fine range resolution may provide a higher capability to distinguish objects from one another in the longitudinal direction whereas a coarse range resolution may provide a lower capability to distinguish objects from one another in the longitudinal direction. For instance, a range resolution of 8 mm may allow radar device200to distinguish two objects so long as the objects are at least 8 mm apart in the longitudinal direction. In some embodiments, finer range resolutions may be used to improve the ability of a computer-assisted driving module (e.g.,352) to make safe decisions, but one tradeoff is that greater amounts of data may be produced at finer range resolution, increasing the computational resources used for processing the data.

FIG.5Billustrates frequency over time for waveform types that may be selected for transmission using radar device500, in accordance with some embodiments of the technology described herein.

In some embodiments, range resolution may be varied by varying the frequency bandwidth of the signal(s) transmitted by TX520. For example, the higher the bandwidth, the finer the range resolution may be.

InFIG.5B, three example waveform types having different frequency bandwidths are shown in a frequency vs. time graph550, illustrating how the frequency of a waveform may vary over time. The three example waveform types shown inFIG.5Bare linear chirps, and the frequency of the waveform varies linearly with time. The three illustrated waveform types have the same duration (t2-t1), but each has a different frequency bandwidth. In the illustrated example waveform types, both the initial frequency (the frequency at the beginning of the transmission of the chirp) and the final frequency (the frequency at the end of the transmission of the chirp) varies among the waveform types. In other embodiments, waveform types may vary in the initial frequency and not in the final frequency or vice versa.

InFIG.5B, the first example waveform type has an initial frequency of Fi1 and a final frequency of Ff1. Therefore, the frequency bandwidth of the first waveform type is given by ΔF1=Ff1−Fi1. The second example waveform type has an initial frequency of Fi2 and a final frequency of Ff2. Therefore, the frequency bandwidth of the second waveform type is given by ΔF2=Ff2−Fi2. The third example waveform type has an initial frequency of Fi3 and a final frequency of Ff3. Therefore, the frequency bandwidth of the third waveform type is given by ΔF3=Ff3−Fi3. Because ΔF1 is less than ΔF2, which in turn is less than ΔF3, the range resolution of the third waveform type is finer than the range resolution of the second waveform type, which in turn is finer than the range resolution of the first waveform type.

According to various embodiments, the duration (t2-t1) may be between 5 us and 100 ms, 10 us and 20 ms, between 10 us and 10 ms, between 10 us and 1 ms, between 10 us and 0.5 ms, between 10 us and 0.1 ms, between 10 us and 50 μs, between 50 us and 20 ms, between 50 us and 10 ms, between 50 us and 2 ms, between 50 us and 1 ms, between 50 us and 0.5 ms, between 50 us and 0.1 ms, between 0.1 ms and 20 ms, between 0.1 ms and 15 ms, between 0.1 ms and 10 ms, between 0.1 ms and 5 ms, between 0.1 ms and 3 ms, between 0.1 ms and 2 ms, between 0.1 ms and 1 ms, between 1 ms and 20 ms, between 1 ms and 15 ms, between 1 ms and 10 ms, between 1 ms and 5 ms, between 1 ms and 3 ms, or between 1 ms and 2 ms. Other durations are also possible.

Referring back toFIG.5A, TX520may be configured to transmit, using transmit antenna array522, one or more signals having frequency bandwidth(s) corresponding to the selected waveform type(s). For example, if the first waveform type ofFIG.5Bis selected, TX520may be configured to transmit one or more chirps with bandwidth ΔF1. In some embodiments, RX530may be configured to receive any RF signals reflected from a target object using receive antenna array532. In some embodiments, RX530may include circuitry configured to demodulate (e.g., frequency-shift) a received RF signal to an intermediate frequency and/or to baseband. In some embodiments, digital RX circuitry540may be configured to digitize the demodulated signal. In some embodiments, RX530may be configured to use a reference signal (e.g., from signal generation circuitry) provided to TX520for demodulation (e.g., frequency-shifting). For example, RX530may be configured to produce demodulated received RF signals indicating location information about the target object to processing circuitry510(e.g., for image generation).

In some embodiments, methods for adjusting the range resolution of radar device500may involve varying the bandwidth of the transmitted signals. In some embodiments, the range resolution may be adjusted by varying a parameter of digital RX circuitry540(in alternative to, or in addition to, varying the bandwidth of the transmitted signals). For example, some embodiments may involve varying the sampling rate with which digital RX circuitry540digitizes signals received via RX antenna array534generated at least in part by reflection from target objects, and/or varying the bandwidth of the pass band in the receiver filter. Similar to the examples described above, the sampling rate and/or the filter's bandwidth may be varied on the basis of situational awareness data. In one example, the bandwidth of the pass band in the receiver filter may be varied from 1 GHz to 20 GHz depending upon the situational awareness data. In another example, the sampling rate may be varied from 2 MS/s to 40 MS/s depending upon the situational awareness data (where “MS/s” represents millions of samples per second).

In some embodiments, digital RX circuitry540may be configured to process RF signals received by RX530. For example, processed data output by digital RX circuitry540may be used by processing circuitry210to generate images, such as for outputting to display350, and/or to be provided as an input to computer-assisted driving module352. In some embodiments, images generated by processing circuitry210may include for example range-cross range images or range-Doppler images. According to various embodiments, processing circuitry210may be configured to output images at any suitable frame rate, including for example between 10 frames per second and 30 frames per second or between 15 frames per second and 25 frames per second. Additionally or alternatively, digital RX circuitry540may be configured to process RF signals received by RX530to provide information about the location of the target object as input to a computer-assisted module352.

FIG.5Cillustrates an example method560of using a radar device (e.g.,500) to collect data about a target object, in accordance with some embodiments of the technology described herein.

In some embodiments, method560may be performed using processing circuitry510of radar device500. As shown inFIG.5C, method560begins at step562, in which the processing circuitry obtains situational awareness data for a vehicle (e.g.,300). For example, the situational awareness data may be indicative of at least one characteristic of the vehicle, at least one characteristic of a target object, and/or at least one characteristic of an environment of the vehicle. According to various embodiments, the processing circuitry may obtain the data from any suitable source, depending on the nature of the data. For example, the processing circuitry may obtain velocity data from a velocity sensor onboard the vehicle. In another example, the processing circuitry may obtain traffic data and/or road data from an internet module onboard the vehicle. In another example, the processing circuitry may obtain weather from the internet module and/or from a weather sensor onboard the vehicle. In another example, the processing circuitry may obtain cruise control data from a cruise control module onboard the vehicle.

At step564, the processing circuitry selects at least one waveform type to use for collecting data about the target object. The selection is performed using situational awareness data obtained at step562. The at least one waveform type may be selected from among a set of selectable waveform types, each waveform type having a different frequency bandwidth. In one example, the processing circuitry may select (e.g., using waveform selection circuitry512) a single waveform type to use for collecting data about the target object. In this example, all image frames may be produced with range resolutions corresponding to the selected waveform type. In another example, the processing circuitry may select more than one waveform type to use for collecting information about the target object, for example a first waveform type and a second waveform type. For instance, the selected waveform types may have different bandwidths. In this example, images generated during some frames may have range resolutions corresponding to the first selected waveform type and images generated during some frames may have range resolutions corresponding to the second selected waveform type. Thus, images may be formed by mixing frames produced with different range resolutions.

At step566, the processing circuitry controls a TX (e.g.,520) to transmit one or more RF transmit signals having a frequency bandwidth corresponding to the selected at least one waveform type. For example, if a single waveform type is selected at step564, step566may include transmitting signals having bandwidths corresponding to the selected waveform type. If more than one waveform type is selected at step564(e.g., a first type and a second type), step566may include transmitting signals having bandwidths corresponding to various selected waveform types. For example, transmission may be performed in an alternating fashion. For instance, signals corresponding to the first selected waveform type may be transmitted, and then, signals corresponding to the second selected waveform type may be transmitted, and then, additional signals corresponding to the first selected waveform type may be transmitted again, followed by additional signals corresponding to the second selected waveform type. This or other combinations of different waveform types transmitted over time may facilitate the processing circuitry generating images in respective frames having different range resolutions.

At step568, the processing circuitry controls a RX (e.g.,530) to receive one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals (transmitted at step566) from the target object. For example, the processing circuitry may control the RX to demodulate (e.g., frequency-downshift) and may control digital RX circuitry (e.g.,540) to digitize the received RF signals. In addition to the reflection of the one or more RF transmit signals, the one or more RF receive signals may further include noise, spurious signals, signals obtained as a result of multi-path effects.

Optionally, at step570, the processing circuitry generates one or more range-cross range images using the RF signals received using the RX. For example, the images may be defined by a frame rate suitable for inspection by a human or for use by the computer-assisted driving module. The frame rate may be, for example, between 10 frames per second and 30 frames per second or between 15 frames per second and 25 frames per second. Depending on how many waveform types are selected at step564, frames may have the same range resolution and/or may have different range resolutions.

FIG.5Dillustrates transmission and reception of multiple RF signals during a frame, in accordance with some embodiments of the technology described herein.

In some embodiments, coherent processing techniques may be used to improve the signal-to-noise ratio (SNR) of a radar device (e.g.,200). In some embodiments, coherent processing may involve accumulating multiple radar signals coherently to increase the effective power and improve the detection of weak signals. In the example ofFIG.5D, a radar device may transmit multiple signals of the same type (a selected waveform type) during a frame (50 ms in this example, corresponding to a frame rate of 20 frames per second). The transmitted signals are shown on the top portion ofFIG.5D. As a result, the radar device may receive multiple signals, each signal resulting from the reflection of a transmitted signal from a target object. The received signals are delayed by an amount ΔT that may depend on the distance between the radar device and the target object. The received signals are shown on the lower portion ofFIG.5D. In some embodiments, the received signals may be combined together coherently, thereby improving the SNR of the radar device.

FIGS.6A-6Dare diagrams showing a few examples of how waveform types may be selected depending upon the situational awareness data obtained by a radar device.

FIG.6Aillustrates an example method600aof selecting a frame rate based on velocity data indicative of velocity of a vehicle, in accordance with some embodiments of the technology described herein.

In the example ofFIG.6A, selection of waveform type is performed on the basis of velocity data corresponding to the vehicle. For purposes of illustration, it is assumed that images at a frame rate of 20 frames per second are generated (although other frame rates are possible). In this example, there are three waveform types available for selection-one with a fine range resolution (FRR), one with an intermediate range resolution (IRR) and one with a coarse range resolution (CRR). In one example, signals generated in accordance with the FRR type have bandwidths of 20 GHz, signals generated in accordance with the IRR type have bandwidths of 10 GHz, and signals generated in accordance with the CRR type have bandwidths of 2 GHz. Other values are possible. The composition of the frames is varied depending upon the velocity data. If the velocity data indicates that the vehicle is traveling at a velocity less than 30 mph, all the 20 frames per second are generated by transmitting signals of the FRR type. If the velocity data indicates that the vehicle is traveling at a velocity between 30 mph and 50 mph, of the 20 frames per second, 10 frames are generated by transmitting signals of the FRR type and 10 frames are generated by transmitting signals of the IRR type. If the velocity data indicates that the vehicle is traveling at a velocity between 50 mph and 70 mph, of the 20 frames per second, 10 frames are generated by transmitting signals of the IRR type and 10 frames are generated by transmitting signals of the CRR type. Lastly, if the velocity data indicates that the vehicle is traveling at a velocity beyond 70 mph, all the 20 frames per second are generated by transmitting signals of the CRR type. It should be noted that the selection scheme ofFIG.6Ais provided solely for purposes of illustration, as other ways to select waveform types are possible.

As can be appreciated fromFIG.6A, lower velocities dictate greater range resolutions in this example. The velocity of the vehicle can be viewed as a proxy of the likelihood of sudden events warranting immediate action by the vehicle. The lower the velocity, the higher the likelihood that other vehicles are relatively close to the vehicle. For example, velocities of less than 30 mph are typical in circumstances in which a vehicle is accelerating upon stopping at a red light, where vehicles tend to closely cluster to one another. Reaction times in the order of a few seconds are often necessary to avoid collisions if unexpected events occur. For example, a pedestrian crossing a street immediately after the light has turned green (for the vehicles) may cause a vehicle to stop abruptly, leading to potentially dangerous situations. Given the relatively short reaction times necessary to avoid collisions, these circumstances warrant greater range resolutions.

On the other hand, velocities beyond 70 mph are more typical in highways, where vehicles tend to be farther away from each other. Unexpected events in these circumstances tend to be more forgiving. For example, several seconds may be sufficient to adjust the course of a vehicle when another vehicle unexpectedly moves from one lane to another. Given the longer reaction times necessary to avoid collisions, the range resolution can be relaxed in these circumstances. As a result, the amount of data being collected is decreased.

FIG.6Billustrates an example method600bof selecting a frame rate based on road data indicative of a type of road associated with an environment of a vehicle, in accordance with some embodiments of the technology described herein.

In the example ofFIG.6B, selection of waveform type is performed on the basis of road data. Again, it is assumed that images at a frame rate of 20 frames per second are generated (although other frame rates are possible). The same waveform types described in connection withFIG.6Aare used. Additionally, some of the frames may be reserved to operate the radar device in the Doppler mode (DM), in which the radar device determines the relative velocity of other vehicles. As in the example ofFIG.6A, road data can be viewed as a proxy of the likelihood of sudden events warranting immediate action by the vehicle. In circumstances where vehicles are more likely to cluster (e.g., in urban settings), short reaction times may be necessary to avoid collisions. In circumstances where vehicles are less likely to cluster (e.g., in highways), longer reaction times may be sufficient to avoid collisions. WhileFIG.6Bshows an example in which some frames are reserved for DM, it should be appreciated that DM may share a frame with other modes, such as using DM within a portion of a frame.

In this example, if the road data indicates that the vehicle is in an urban setting, all the 20 frames per second are generated by transmitting signals of the FRR type. If the road data indicates that the vehicle is traveling on a highway, of the 20 frames per second, 15 frames are generated by transmitting signals of the FRR type, and the remaining 5 frames may be reserved to operate the radar device in the Doppler mode. If the road data indicates that the vehicle is traveling in a rural setting, of the 20 frames per second, 5 frames are generated by transmitting signals of the IRR type, 8 frames are generated by transmitting signals of the CRR type, 4 frames are generated by transmitting signals of the FRR type, and the remaining 3 frames may be reserved to operate the radar device in the Doppler mode. Lastly, if the road data indicates that the vehicle is in a parking setting (e.g., is in a parking lot), all the 20 frames per second are generated by transmitting signals of the CRR type. It should be noted that the selection scheme ofFIG.6Bis provided solely for purposes of illustration, as other ways to select waveform types are possible.

FIG.6Cillustrates an example method600cof selecting a frame rate based on weather data indicative of a weather condition in an environment of a vehicle, in accordance with some embodiments of the technology described herein.

In the example ofFIG.6C, selection of waveform type is performed on the basis of weather data. Again, it is assumed that images at a frame rate of 20 frames per second are generated (although other frame rates are possible). The same waveform types described in connection withFIG.6Aare used. In this example, range resolution may be adjusted depending on the danger that certain weather conditions may provoke. For example, rainy and foggy conditions tend to be more dangerous than drier conditions, thus warranting finer range resolutions. Similarly, higher precipitation rates tend to be more dangerous than lower precipitation rates, thus warranting finer range resolutions. Thus, range resolution may be varied depending upon the precipitation rate.

In the example ofFIG.6C, if the weather data indicates that the vehicle is in a rainy environment, all the 20 frames per second are generated by transmitting signals of the FRR type. If the weather data indicates that the vehicle is in a foggy environment, 10 frames are generated by transmitting signals of the FRR type and 10 frames are generated by transmitting signals of the IRR type. If the weather data indicates that the vehicle is in a snowy environment, 10 frames are generated by transmitting signals of the IRR type and 10 frames are generated by transmitting signals of the CRR type. Lastly, if the weather data indicates that the vehicle is in a dry environment, all the 20 frames per second are generated by transmitting signals of the CRR type. It should be noted that the selection scheme of FIG.6C is provided solely for purposes of illustration, as other ways to select waveform types are possible.

FIG.6Dillustrates an example method600dof selecting a frame rate based on distance of target objects to a vehicle, in accordance with some embodiments of the technology described herein.

In some embodiments, in addition (or in alternative) to selecting waveform types based on situational awareness data, waveform types may be selected based on distance data indicative of the distance of a target object from the vehicle, the distance data obtained using radar device (e.g.,200) itself.FIG.6Dis a diagram showing how waveform types may be selected depending upon the distance to target objects. In this example, if the radar device determines that all target objects are within 37.5 m (though other ranges are possible) of the vehicle, all the 20 frames per second are generated by transmitting signals of the FRR type. If the radar device determines that some target objects are within 37.5 m and some target objects are between 37.5 m and 100 m (though other ranges are possible) of the vehicle, 10 frames are generated by transmitting signals of the FRR type and 10 frames are generated by transmitting signals of the IRR type. If the radar device determines that all target objects are beyond 375 m (though other ranges are possible) of the vehicle, 10 frames are generated by transmitting signals of the IRR type and 10 frames are generated by transmitting signals of the CRR type. Lastly, if the radar device determines that some target objects are beyond 100 m (though other ranges are possible) of the vehicle, all the 20 frames per second are generated by transmitting signals of the CRR type. It should be noted that the selection scheme ofFIG.6Dis provided solely for purposes of illustration, as other ways to select waveform types are possible.

III. Selection of Transmitter Configurations

As mentioned above, the inventors have developed techniques for adapting an operational configuration of a radar device based on situational awareness indicative of at least one characteristic of a vehicle. For example, situational awareness data indicative of a characteristic of a vehicle, a target object, and/or an environment of the vehicle may be used to select a radar operational configuration that is appropriate for the situation. The inventors have recognized that TX configurations may be selected based on situational awareness data to balance radar range, precision, and/or field of view, with constraints on available power. For instance, a TX configuration may specify a transmit power level (e.g., for transmission to reach a particular distance from the TX), a transmit phase shift pattern (e.g., for focusing transmission in one or more angular directions), and/or a subset of transmit antenna elements of a transmit antenna array (e.g., for transmission to be focused narrowly or broadly depending on the desired angular resolution).

Some embodiments provide a method of using a radar device (e.g.,700inFIG.7) to collect data about a target object, the radar device (e.g.,700) being configurable among a plurality of TX configurations. For example, the radar device may be configured in the manner described herein for radar device200including in connection withFIGS.2A-3B, including processing circuitry (e.g.,710), a TX (e.g.,720), and a RX (e.g.,730).

In some embodiments, the method may include obtaining, using processing circuitry (e.g.,710) of the radar device (e.g.,700), situational awareness data for a vehicle (e.g.,300), the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle. For example, the situational awareness data may be as described herein including in connection withFIGS.2A-3B.

In some embodiments, the method may include selecting, using the processing circuitry (e.g.,710), using the situational awareness data for the vehicle and from among a plurality of TX configurations (e.g.,FIG.7), at least one TX configuration to use for collecting the data about the target object. For example, TX configurations selectable by the processing circuitry (e.g.,710) may specify different transmit power levels (e.g.,FIGS.9A-9B), different subsets of transmit antenna elements (e.g.,FIGS.9B-9C), and/or different transmit phase shift patterns (e.g.,FIGS.10A-10C) to produce different transmit beams.

In some embodiments, the method may include transmitting, using a TX (e.g.,720) of the radar device (e.g.,700) according to the TX configuration(s), one or more RF transmit signals. For example, where the TX configuration(s) specify a transmit power level (e.g.,FIGS.9A-9B), a subset (e.g.,FIGS.9B-9C) of a plurality of transmit antenna elements (e.g.,822) of the TX (e.g.,820), and/or a transmit phase shift pattern (e.g.,FIGS.10A-10C) for transmitting the RF transmit signal(s), the RF transmit signal(s) may be transmitted using the specified subset(s) and/or according to the specified transmit power level(s) and/or transmit phase shift pattern(s).

In some embodiments, the method may include receiving, using a RX (e.g.,730) of the radar device, one or more RF receive signals generated at least in part by reflection of the RF transmit signal(s) from the target object. For example, the RX (e.g.,730) may receive the RF receive signal(s) according to a radar operational configuration, and/or may receive the RF receive signal(s) in a static configuration.

In some embodiments, the TX (e.g.,820inFIG.8) may include a transmit antenna array including a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of the transmit antenna array, the plurality of TX configurations (e.g.,900band900cinFIGS.9B-9C) may specify a plurality of different subsets of the plurality of transmit antenna elements (e.g.,822), the selected TX configuration(s) (e.g.,900band/or900c) may specify at least one subset of the plurality of different subsets, and transmitting the RF transmit signal(s) according to the selected TX configuration(s) may include transmitting the RF transmit signal(s) using the specified subset(s).

In some embodiments, the specified subset(s) may include a first subset (e.g.,822a,822b, and822c) of the plurality of transmit antenna elements (e.g.,822) and a second subset (e.g.,822aand822c) of the plurality of transmit antenna elements (e.g.,822) that is different from the first subset, transmitting the RF transmit signal(s) using the specified subset(s) may include transmitting, at a first time, a first RF transmit signal of the RF transmit signal(s) using the first subset (e.g.,822a,822b, and822c) and transmitting, at a second time after the first time, a second RF transmit signal of the RF transmit signal(s) using the second subset (e.g.,822aand822c). For example, the method may further include generating, using the processing circuitry (e.g.,710) of the radar device (e.g.,700), a range-cross range image using the RF receive signal(s) generated at least in part by reflection of the first RF transmit signal and/or of the second RF transmit signal from the target object.

In some embodiments, the TX (e.g.,820) may use a first amount of transmit power transmitting the first RF transmit signal using the first subset (e.g.,822a,822b, and822c) and the TX (e.g.,820) may use a second amount of transmit power that is different from the first amount of transmit power transmitting the second RF transmit signal using the second subset (e.g.,822aand822c), such as a lower amount of transmit power for a subset that includes fewer transmit antenna elements (e.g.,822).

In some embodiments, the TX (e.g.,820) may include a transmit antenna array including a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of the transmit antenna array, the plurality of TX configurations may specify a plurality of different phase shift patterns (e.g.,1000a,1000b, and1000cinFIGS.10A-10C) for transmitting the RF transmit signal(s) via the plurality of transmit antenna elements (e.g.,822), the selected transmitter configuration(s) may specify at least one phase shift pattern (e.g.,1000a,1000b, and/or1000c) of the plurality of different phase shift patterns, and transmitting the RF transmit signal(s) according to the selected transmitter configuration(s) may include transmitting the RF transmit signal(s) according to the specified phase shift pattern(s).

In some embodiments, the specified phase shift pattern(s) may include a first phase shift pattern (e.g.,1000a) and a second phase shift pattern (e.g.,1000b) that is different from the first phase shift pattern, and transmitting the RF transmit signal(s) according to the specified phase shift pattern(s) may include transmitting, at a first time, a first RF transmit signal of the RF transmit signal(s) according to the first phase shift pattern (e.g.,1000a) and transmitting, at a second time after the first time, a second RF transmit signal of the RF transmit signal(s) according to the second phase shift pattern (e.g.,1000b). For example, the method may further include generating a range-cross range image using the RF receive signal(s) generated at least in part by reflection of the first RF transmit signal and/or of the second RF transmit signal from the target object.

In some embodiments, the specified phase shift pattern(s) may be configured to perform an angular transmit sweep over an angular field of view including a first angular direction (e.g.,FIG.10A) and a second angular direction (e.g.,FIG.10B) different from the first angular direction. For example, according to the first phase shift pattern (e.g.,1000a), the TX820may focus transmission of the first RF transmit signal in the first angular direction and, according to the second phase shift pattern (e.g.,1000b), the TX (e.g.,820) may focus transmission of the second RF transmit signal in the second angular direction. For instance, during a frame, the TX (e.g.,820) may perform the angular sweep over the angular field of view, such that a range-cross range image generated during the frame includes data for the angular field of view.

In some embodiments, the TX (e.g.,820) may include a transmit antenna array including a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of the transmit antenna array, the plurality of TX configurations (e.g.,900aand900binFIGS.9A-9B) may specify a plurality of different transmit power levels for transmitting the RF transmit signal(s) via the plurality of transmit antenna elements (e.g.,822), the selected transmitter configuration(s) may specify at least one transmit power level (e.g.,FIG.9Aand/orFIG.9B) of the plurality of different transmit power levels, and transmitting the RF transmit signal(s) according to the selected transmitter configuration(s) may include transmitting the RF transmit signal(s) according to the specified transmit power level(s).

In some embodiments, the specified transmit power level(s) may include a first transmit power level (e.g.,FIG.9A) and a second transmit power level (e.g.,FIG.9B) that is different from the first transmit power level, and transmitting the RF transmit signal(s) according to the specified transmit power level(s) may include transmitting, at a first time, a first RF transmit signal of the RF transmit signal(s) according to the first transmit power level (e.g.,FIG.9A) and transmitting, at a second time, a second RF transmit signal of the RF transmit signal(s) according to the second transmit power level (e.g.,FIG.9B). For example, the method may further include generating a range-cross range image using the RF receive signal(s) generated at least in part by reflection of the first RF transmit signal and/or the second RF transmit signal from the target object.

In some embodiments, the RF transmit signal(s) may have frequency content in a frequency band of 300 GHz-3 THz.

FIG.7illustrates an example radar device700having processing circuitry710configured to select among TX configurations for operating a TX720of the radar device700, in accordance with some embodiments of the technology described herein.

In some embodiments, processing circuitry710may be configured to obtain situational awareness data for a vehicle (e.g.,300), the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, such as described herein for processing circuitry210including in connection withFIGS.3A-3B.

In some embodiments, processing circuitry710may be configured to select, using the situational awareness data for the vehicle and from among a plurality of TX configurations, at least one TX configuration to use for collecting data about a target object. For example, as shown inFIG.7, processing circuitry710includes TX configuration selection circuitry712, which may be configured to select one or more TX configurations based on situational awareness data, such as described herein for processing circuitry210. For instance, the situational awareness data may be indicative of at least one characteristic of the vehicle (e.g.,300), at least one characteristic of the target object, and/or at least one characteristic of the environment of the vehicle.

In some embodiments, TX configuration selection circuitry712may be configured to select one or more TX configurations and to send a control signal714to control TX720according to the selected TX configuration. For example, selection may be based on the situational awareness data obtained by processing circuitry710. In the illustrated embodiment, TX configuration selection circuitry712is shown configured to select from among first, second, and third TX configurations, although any other suitable numbers of selectable TX configurations are possible.

In some embodiments, TX720may be configured to transmit one or more RF transmit signals according to the at least one transmitter configuration. For example, TX720may have transmit circuitry (e.g., a phase shifter and/or amplifier) configured to receive control signal714from processing circuitry710, which may control a transmit power level, a selection of transmit antenna elements, and/or a phase shift pattern for transmission of RF signals using TX720. In some embodiments, RX730may be configured to receive one or more RF receive signals generated at least in part by reflection of the RF transmit signal(s) from the target object. In some embodiments, the RF transmit signal(s) may have frequency content in a frequency band of 300 GHZ-3 THz.

FIG.8illustrates an example TX820that may be included in radar device700, in accordance with some embodiments of the technology described herein.

In some embodiments, TX820may have a transmit antenna array including transmit antenna elements822, which may be arranged along a dimension of the transmit antenna array. For example, as shown inFIG.8, transmit antenna elements822are arranged along the y-axis, which may be an elevation dimension of the transmit antenna array. For instance, the elevation dimension of the transmit antenna array may be longer than the azimuth dimension of the transmit antenna array, such as in the example ofFIG.4, though it should be appreciated that other array configurations are possible.

In some embodiments, TX configurations selectable by processing circuitry (e.g.,710) may specify a plurality of different subsets of transmit antenna elements822and the selected transmitter configuration(s) selected by the processing circuitry may specify at least one subset of the plurality of different subsets. For example, selecting different subsets of transmit antenna elements822may control the beamwidth of transmit beams in which the transmit antenna array transmits RF transmit signals, such as described further herein. In some embodiments, when selected, TX820may be configured to transmit the RF transmit signal(s) using the specified subset(s). For example, as shown inFIG.8, transmit circuitry of TX820includes power amplifiers824a,824b, and824crespectively coupled to transmit antenna elements822a,822b, and822crespectively. For instance, power amplifiers824a,824b, and/or824cmay be selectable to enable and/or disable transmission via the respective transmit antenna elements822a,822b, and/or822cbased on an element selection and/or transmit power control signal812(e.g., including and/or based on control signal714), such as by enabling and/or disabling operation of the respective amplifier824a,824b, and/or824c.

Alternatively or additionally, in some embodiments, TX configurations selectable by processing circuitry (e.g.,710) may specify a plurality of different transmit power levels for transmitting the RF transmit signal(s) via transmit antenna elements822, and the TX configuration selected by the processing circuitry may specify at least one transmit power level of the plurality of different transmit power levels. For example, selecting different transmit power levels for transmitting RF transmit signals may result in shorter or greater range of transmission, such as described further herein. In some embodiments, TX820may be configured to transmit the RF transmit signal(s) according to the specified transmit power level(s). For example, as shown inFIG.8, each power amplifier824a,824b, and824bis shown configured to receive an element selection and/or power control signal812. For instance, the element selection and/or power control signal812may control a transmit power level of the respective amplifier824a,824b, and/or824c.

In some embodiments, TX configurations selectable by processing circuitry (e.g.,710) may specify a plurality of different phase shift patterns for transmitting RF transmit signals via transmit antenna elements822, and the TX configuration(s) selected by the processing circuitry may specify at least one phase shift pattern of the plurality of different phase shift patterns. For example, selecting different transmit phase shift patterns may control the angular direction in which transmission is focused, such as described further herein. In some embodiments, when selected, TX820may be configured to transmit the RF transmit signal(s) according to the specified phase shift pattern(s). For example, as shown inFIG.8, transmit circuitry of TX820includes phase shifters826a,826b, and826crespectively coupled to transmit antenna elements822a,822b, and822c. For instance, phase shifters826a,826b, and826cmay be configured to apply a phase shift to an RF transmit signal for transmission by the respective transmit antenna elements822a,822b, and822cbased on a phase control signal814(e.g., including and/or based on control signal714), such as by introducing a controllable amount of phase shift to RF signals input to the respective phase shifter826a,826b, and826c.

FIG.9Aillustrates example operation of TX820according to a transmitter configuration900ausing a first subset of transmit antenna elements822at a first transmit power level, in accordance with some embodiments of the technology described herein.

As shown inFIG.9A, each transmit antenna element822a,822b, and822ctransmits an RF transmit signal to produce a transmit beam. In the illustrated embodiment, each transmit antenna element822a,822b, and822ctransmits with the same first transmit power level. For instance, power amplifiers824a,824b, and824cmay be configured to produce the same first transmit power level in response to the element selection and/or transmit power level control signal812.

FIG.9Billustrates example operation of TX820according to a transmitter configuration900busing the first subset of transmit antenna elements822at a second transmit power level, in accordance with some embodiments of the technology described herein.

As shown inFIG.9B, each transmit antenna element822a,822b, and822ctransmits an RF transmit signal, but with a second transmit power level that is less than the first transmit power level. In the illustrated example, the longitudinal range of the transmission may be shorter, such as 200 meters rather than 300 meters for TX configuration900afor instance.

In some embodiments, the transmit power level(s) specified by a TX configuration may include a first transmit power level and a second transmit power level that is different from the first transmit power level. For example, a TX configuration may specify the first transmit power level shown inFIG.9Aand the second transmit power level shown inFIG.9B.

In some embodiments, TX820may be configured to transmit, at a first time, a first RF transmit signal of the RF transmit signal(s) according to the first transmit power level and transmit, at a second time, a second RF transmit signal of the RF transmit signal(s) according to the second transmit power level. For example, TX820may be configured to transmit the first RF transmit signal according to the first transmit power level as shown inFIG.9Aat a first time and to transmit the second RF transmit signal according to the second transmit power level as shown inFIG.9Bat a second time after the first time. For instance, the first RF transmit signal and the second RF transmit signals may be transmitted during different frames (e.g., each including or a part of a transmit sweep over multiple transmit beams over time) and/or during a frame (e.g., as part of a same transmit sweep over multiple transmit beams over time). In some embodiments, the processing circuitry (e.g.,710) may be configured to generate a range-cross range image using the RF receive signal(s) generated at least in part by reflection of the first RF transmit signal and/or the second RF transmit signal from the target object (e.g., where the first RF transmit signal and the second RF transmit signal are transmitted during a frame).

FIG.9Cillustrates example operation of TX820according to a transmitter configuration900cusing a second subset of transmit antenna elements822at the first transmit power level, in accordance with some embodiments of the technology described herein.

In some embodiments, one or more subsets of transmit antenna elements822specified by a TX configuration may include a first subset of transmit antenna elements822and a second subset of transmit antenna elements822that is different from the first subset. For example, in TX configuration900binFIG.9B, a first subset of transmit antenna elements822a,822b, and822ctransmit the RF transmit signal, whereas in TX configuration900cinFIG.9C, a second subset of transmit antenna elements822aand822ctransmit the RF transmit signal. For instance, the first and second subsets are different in that the second subset omits transmit antenna element822b. In the illustrated embodiment, power amplifier824bmay be configured not to transmit an RF transmit signal, such as in response to element selection and/or transmit power level control signal812. As a result, inFIG.9C, the resulting beamwidth of the transmit beam is wider than inFIG.9B, which may provide lower resolution in elevation thanFIG.9Bwhile using less power and/or achieving greater range.

In some embodiments, TX820may be configured to transmit a first RF transmit signal using a first subset of transmit antenna elements822using a first amount of transmit power and transmit a second RF transmit signal using a second subset of transmit antenna elements822using a second amount of transmit power that is equal to the first amount of transmit power. For example, as shown inFIGS.9B and9C, transmit antenna elements822a,822b, and822ctransmit with lower transmit power levels inFIG.9Bthan transmit antenna elements822aand822cinFIG.9C. For instance, the same amount of transmit power may be provided to fewer transmit antenna elements in TX configuration900c, which may result in the same longitudinal range using fewer transmit antenna elements. In other embodiments, different subsets of transmit antenna elements may be configured to use different amounts of transmit power. For instance, where transmit antenna elements822aand822buse the same transmit power level inFIG.9Cas inFIG.9B, less transmit power may be used due to one fewer transmit antenna element, resulting in shorter longitudinal range and wider beamwidth than inFIG.9B.

In some embodiments, TX820may be configured to transmit, at a first time, a first RF transmit signal of the RF transmit signal(s) using the first subset and transmit, at a second time after the first time, a second RF transmit signal of the RF transmit signal(s) using the second subset. For example, TX820may be configured to transmit the first RF transmit signal using the first subset as shown inFIG.9Bat a first time and to transmit the second RF transmit signal using the second subset as shown inFIG.9Cat a second time after the first time. For instance, the first RF transmit signal and the second RF transmit signals may be transmitted during different frames (e.g., each including or a part of a transmit sweep over multiple transmit beams over time) and/or during a frame (e.g., as part of a same transmit sweep over multiple transmit beams over time). In some embodiments, processing circuitry (e.g.,710) of the radar device (e.g.,700) may be configured to generate a range-cross range image using the RF receive signal(s) generated at least in part by reflection of the first RF transmit signal and/or of the second RF transmit signal from a target object (e.g., where the first RF transmit signal and the second RF transmit signal are transmitted during a frame).

FIG.10Aillustrates example operation of TX820according to a first transmit phase shift pattern1000a, in accordance with some embodiments of the technology described herein.

As shown inFIG.10A, each transmit antenna element822a,822b, and822ctransmits an RF transmit signal to produce a transmit beam. In the illustrated embodiment, each transmit antenna element822a,822b, and822ctransmits with a different phase shifted version of the RF transmit signal, resulting in a phase front oriented in a nonzero elevation angular direction. For instance, phase shifters826a,826b, and826cmay be configured to apply different phase shifts in response to the phase shift control signal814. In the illustrated embodiment, with a phase front oriented in an angular direction of elevation, transmission may be focused in that direction.

FIG.10Billustrates example operation of TX820according to a second transmit phase shift pattern1000b, in accordance with some embodiments of the technology described herein.

As shown inFIG.10B, each transmit antenna element822a,822b, and822ctransmits an RF transmit signal to produce a transmit beam with the same phase version of the RF transmit signal, resulting in a phase front oriented at 0 degrees in elevation. For instance, phase shifters826a,826b, and826cmay be configured to apply the same (and/or zero) phase shift in response to the phase shift control signal814.

FIG.10Cillustrates example operation of TX820according to a third transmit phase shift pattern1000c, in accordance with some embodiments of the technology described herein.

As shown inFIG.10C, each transmit antenna element822a,822b, and822ctransmits an RF transmit signal to produce a transmit beam with a different phase shifted version of the RF transmit signal, resulting in a phase front oriented in a nonzero elevation angular direction that is different from the angular direction shown inFIG.10A. For instance, phase shifters826a,826b, and826cmay be configured to apply different phase shifts from one another and with respect to phase shift pattern1000ain response to the phase shift control signal814.

In some embodiments, specified phase shift pattern(s) of a TX configuration may include a first phase shift pattern and a second phase shift pattern that is different from the first phase shift pattern. For example, the first phase shift pattern may be one of phase shift patterns1000aand1000band the second phase shift pattern may be phase shift pattern1000bor1000c, respectively.

In some embodiments, TX820may be configured to transmit, at a first time, a first RF transmit signal of the RF transmit signal(s) according to the first phase shift pattern and transmit, at a second time after the first time, a second RF transmit signal of the RF transmit signal(s) according to the second phase shift pattern. For example, TX820may be configured to transmit the first RF transmit signal according to phase shift pattern1000aas shown inFIG.10Aat a first time and to transmit the second RF transmit signal according to phase shift pattern1000bas shown inFIG.10Bat a second time after the first time. For instance, the first RF transmit signal and the second RF transmit signal may be transmitted during different frames (e.g., each including or a part of a transmit sweep over multiple transmit beams over time) and/or during a frame (e.g., as part of a same transmit sweep over multiple transmit beams over time). In some embodiments, the processing circuitry (e.g.,710) may be further configured to generate a range-cross range image using the RF receive signal(s) generated at least in part by reflection of the first RF transmit signal and/or of the second RF transmit signal from the target object (e.g., where the first RF transmit signal and the second RF transmit signal are transmitted during a frame).

FIG.10Dillustrates angular directions of transmission focus in elevation for transmit phase shift patterns1000a,1000b, and1000c, respectively, in accordance with some embodiments of the technology described herein.

In some embodiments, the phase shift pattern(s) specified by a selected TX configuration may be configured to perform an angular transmit sweep over an angular field of view including a first angular direction and a second angular direction different from the first angular direction. For example, according to phase shift pattern1000a, TX820may be configured to focus transmission of a first RF transmit signal in the first angular direction and, according to phase shift pattern1000b, TX820may be configured to focus transmission of the second RF transmit signal in the second angular direction. For instance, as shown inFIG.10D, the angular directions of phase shift patterns1000a,1000b, and1000care different in the elevation-longitude plane, with phase shift patterns1000aand1000cabove and below 0 degrees in elevation and phase shift pattern1000bat 0 degrees in elevation, along the longitudinal axis.

In some embodiments, TX configurations selectable by processing circuitry (e.g.,710) may specify a plurality of different subsets of transmit antenna elements822and a plurality of different phase shift patterns applied to respective ones of the plurality of different subsets, and the TX configuration(s) selected by the processing circuitry may specify at least one subset of the plurality of different subsets and at least one phase shift pattern applied to the at least one subset. For example, a TX configuration may specify a subset (e.g., transmit antenna elements822aand822cas inFIG.9C) and a phase shift pattern (e.g.,1000a), which may result in a beamwidth and a direction of focus. In some embodiments, TX820may be configured to transmit the RF transmit signal(s) using the specified subset(s) according to the specified phase shift pattern(s). For example, selection of a subset of transmit antenna elements822may be in response to element selection and/or transmit power level control signal812and a phase shift pattern may be in response to phase shift control signal814.

IV. Selection of Receiver Configurations

As mentioned above, the inventors have developed techniques for adapting an operational configuration of a radar device based on situational awareness indicative of at least one characteristic of a vehicle. For example, situational awareness data indicative of a characteristic of a vehicle, a target object, and/or an environment of the vehicle may be used to select a radar operational configuration that is appropriate for the situation. The inventors have recognized that RX configurations may be selected based on situational awareness data to balance precision and/or field of view with constraints on available power. For instance, a RX configuration may specify a receive phase shift pattern (e.g., for focusing reception in one or more angular directions) and/or a subset of receive antenna elements of a receive antenna array (e.g., for reception to be focused narrowly or broadly depending on the desired angular resolution).

Some embodiments provide a method of using a radar device (e.g.,1100inFIG.11) to collect data about a target object, the radar device (e.g.,1100) being configurable among a plurality of RX configurations (e.g.,FIG.11). For example, the radar device may be configured in the manner described herein for radar device200including in connection withFIGS.2A-3B, including processing circuitry (e.g.,1110), a TX (e.g.,1120), and a RX (e.g.,1130).

In some embodiments, the method may include obtaining, using processing circuitry (e.g.,1110) of the radar device (e.g.,1100), situational awareness data for a vehicle (e.g.,300inFIG.3A), the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment the vehicle. For example, the situational awareness data may be as described herein including in connection withFIGS.2A-3B.

In some embodiments, the method may include selecting, using the processing circuitry (e.g.,1110), using the situational awareness data for the vehicle and from among a plurality of RX configurations, at least one RX configuration to use for collecting the data about the target object. For example, RX configurations selectable by the processing circuitry (e.g.,1110) may specify different subsets of receive antenna elements (e.g.,FIGS.13A-13B) and/or different receive phase shift patterns (e.g.,FIGS.14A-14C) to produce different receive beams.

In some embodiments, the method may include transmitting, using a transmitter (e.g.,1120) of the radar device (e.g.,1100), one or more RF transmit signals. For example, the TX (e.g.,1120) may transmit the RF transmit signal(s) according to a radar operational configuration, and/or may transmit the RF transmit signal(s) in a static configuration.

In some embodiments, the method may include receiving, using a RX (e.g.,1130) of the radar device (e.g.,1100) in the selected RX configuration(s), one or more RF receive signals generated at least in part by reflection of the RF transmit signal(s) from the target object.

In some embodiments, the RX (e.g.,1230) may include a receive antenna array including a plurality of receive antenna elements (e.g.,1232) arranged along a dimension (e.g., azimuth) of the receive antenna array, the plurality of RX configurations (e.g.,1300aand/or1300b) may specify a plurality of different subsets (e.g.,FIG.13AandFIG.13B) of the plurality of receive antenna elements (e.g.,1232), the selected receiver configuration(s) may specify at least one subset (e.g.,FIG.13A and/or13B) of the plurality of different subsets, and receiving the RF receive signal(s) according to the selected RX configuration(s) may include receiving the RF receive signal(s) using the specified subset(s).

In some embodiments, the specified subset(s) may include a first subset (e.g.,1232a,1232b, and1232cinFIG.13A) of the plurality of receive antenna elements (e.g.,1232) and a second subset (e.g.,1232aand1232cinFIG.13B) of the plurality of receive antenna elements (e.g.,1232) that is different from the first subset, and receiving the RF receive signal(s) according to the selected receiver configuration(s) may include comprises receiving, at a first time, a first RF receive signal of the RF receive signal(s) using the first subset (e.g.,1232a,1232b, and1232c) and receiving, at a second time after the first time, a second RF receive signal of the RF receive signal(s) using the second subset (e.g.,1232aand1232c). For example, the method may further include generating, using the processing circuitry (e.g.,1110), a range-cross range image using the first RF receive signal and the second RF receive signal.

In some embodiments, the RX1230may use a first amount of receive power receiving the first RF receive signal using the first subset (e.g.,1232a,1232b, and1232c) and the RX1230may use a second amount of receive power that is different from the first amount of receive power receiving the second RF receive signal using the second subset (e.g.,1232aand1232c), such as a lower amount of receive power for a subset that includes fewer receive antenna elements (e.g.,1232).

In some embodiments, the RX (e.g.,1230) may include a receive antenna array including a plurality of receive antenna elements (e.g.,1232) arranged along a dimension (e.g., azimuth) of the receive antenna array, the plurality of RX configurations specify a plurality of different phase shift patterns (e.g.,1400a,1400b, and1400cinFIGS.14A-14C) for receiving the RF receive signal(s) via the plurality of receive antenna elements (e.g.,1232), the selected RX configuration(s) may specify at least one phase shift pattern (e.g.,1400a,1400b, and/or1400c) of the plurality of different phase shift patterns, and receiving the RF receive signal(s) according to the selected receiver configuration(s) may include receiving the RF receive signal(s) according to the specified phase shift pattern(s).

In some embodiments, the specified phase shift pattern(s) may include a first phase shift pattern (e.g.,1400a) and a second phase shift pattern (e.g.,1400b) that is different from the first phase shift pattern, and receiving the RF receive signal(s) according to the specified phase shift pattern(s) may include receiving, at a first time, a first RF receive signal of the RF receive signal(s) according to the first phase shift pattern (e.g.,1400a) and receiving, at a second time after the first time, a second RF receive signal of the RF receive signal(s) according to the second phase shift pattern (e.g.1400b). For example, the method may further include generating a range-cross range image using the first RF receive signal and the second RF receive signal.

In some embodiments, the specified phase shift pattern(s) may be configured to perform an angular receive sweep over an angular field of view including a first angular direction (e.g.,FIG.14A) and a second angular direction (e.g.,14B) different from the first angular direction. For example, according to the first phase shift pattern (e.g.,1400a), the RX may focus reception of the first RF receive signal in the first angular direction and, according to the second phase shift pattern (e.g.,1400b), the RX may focus reception of the second RF receive signal in the second angular direction.

In some embodiments,

The RX may include a receive antenna array including a plurality of receive antenna elements (e.g.,1232) arranged along a dimension (e.g., azimuth) of the receive antenna array, the plurality of RX configurations may specify a plurality of different subsets (e.g.,FIGS.13A-13B) of the plurality of receive antenna elements (e.g.,1232) and a plurality of different phase shift patterns (e.g.,FIGS.14A-14C) applied to respective ones of the plurality of different subsets, the selected RX configuration may specify at least one subset (e.g.,FIG.13A and/or13B) of the plurality of different subsets and at least one phase shift pattern (e.g.,FIG.14A,FIG.14B, and/orFIG.14C) applied to the at least one subset, and receiving the RF receive signal(s) according to the selected receiver configuration(s) may include receiving the RF receive signal(s) using the specified subset according to the specified phase shift pattern.

In some embodiments, the TX (e.g.,1220) may include a transmit antenna array include a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of the transmit antenna array that is orthogonal to the dimension (e.g., azimuth) of the receive antenna array, and transmitting the RF transmit signal(s) may include transmitting the RF transmit signal(s) via the plurality of transmit antenna elements (e.g.,822).

In some embodiments, the RF transmit signal(s) have frequency content in a frequency band of 300 GHz-3 THz.

FIG.11illustrates an example radar device1100having processing circuitry1110configured to select among RX configurations for operating RX1130of the radar device1100, in accordance with some embodiments of the technology described herein.

In some embodiments, processing circuitry1110may be configured to obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, such as described herein for processing circuitry210including in connection withFIGS.3A-3B.

In some embodiments, processing circuitry1110may be configured select, using the situational awareness data for the vehicle and from among a plurality of RX configurations, at least one RX configuration to use for collecting the data about a target object. For example, as shown inFIG.11, processing circuitry1110includes RX configuration selection circuitry1112, which may be configured to select one or more RX configurations based on situational awareness data, such as described herein for processing circuitry210. For instance, the situational awareness data may be indicative of at least one characteristic of the vehicle (e.g.,300), at least one characteristic of the target object, and/or at least one characteristic of the environment of the vehicle.

In some embodiments, TX configuration selection circuitry1112may be configured to select one or more RX configurations and to send a control signal1114to control RX1130according to the selected RX configuration. For example, selection may be based on the situational awareness data obtained by processing circuitry1110. In the illustrated embodiment, RX configuration selection circuitry1112is shown configured to select from among first, second, and third RX configurations, although any other suitable numbers of selectable RX configurations are possible.

In some embodiments, TX1120may be configured to transmit one or more RF transmit signals, such as described herein for TX220including in connection withFIGS.2A-3B. In some embodiments, the RF transmit signal(s) may have frequency content in a frequency band of 300 GHZ-3 THz.

In some embodiments, RX1130may be configured to receive one or more RF receive signals, according to the selected RX configuration(s), generated at least in part by reflection of the RF transmit signal(s) from the target object. For example, RX1130may have receive circuitry (e.g., a phase shifter and/or amplifier) configured to receive control signal1114from processing circuitry1110, which may control a selection of receive antenna elements and/or a phase shift pattern for reception of RF signals using RX1130.

FIG.12illustrates an example RX1230that may be included in radar device1100, in accordance with some embodiments of the technology described herein.

In some embodiments, RX1230may include a receive antenna array including a plurality of receive antenna elements1232, which may be arranged in a dimension of the receive antenna array. For example, as shown inFIG.12, receive antenna elements1232are arranged along the x-axis, which may be an azimuth dimension of the receive antenna array. For instance, the azimuth dimension of the receive antenna array may be longer than the elevation dimension of the receive antenna array, such as in the example ofFIG.4, though it should be appreciated that other array configurations are possible. In some embodiments, a transmitter (e.g.,820) of the radar device may further include a transmit antenna array including transmit antenna elements (e.g.,822) arranged along a dimension of the transmit antenna array that is orthogonal to the dimension of the receive antenna array. For example, as in the example ofFIG.8, the transmit antenna array may have transmit antenna elements (e.g.,822) arranged along the elevation dimension.

In some embodiments, RX configurations selectable by processing circuitry (e.g.,1110) may specify a plurality of different subsets of receive antenna elements1232, and the RX configuration(s) selected by the processing circuitry may specify at least one subset of the plurality of different subsets. For example, selecting different subsets of receive antenna elements1232may control the beamwidth of receive beams in which the receive antenna array receives RF transmit signals, such as described further herein. In some embodiments, when selected, RX1230may be configured to receive the RF receive signal(s) using the specified subset(s). For example, as shown inFIG.12, receive circuitry of RX1230includes power amplifiers1234a,1234b, and1234crespectively coupled to receive antenna elements1232a,1232b, and1232crespectively. For instance, power amplifiers1234a,1324b, and/or1324cmay be selectable to enable and/or disable reception via the respective receive antenna elements1232a,1232b, and/or1232cbased on an element selection control signal1212(e.g., including and/or based on element selection control signal1114), such as by enabling and/or disabling operation of the respective amplifier1234a,1234b, and/or1234c.

In some embodiments, RX configurations selectable by processing circuitry (e.g.,1110) may specify a plurality of different phase shift patterns for receiving the RF receive signal(s) via receive antenna elements1232, and the RX configuration(s) selected by the processing circuitry may specify at least one phase shift pattern of the plurality of different phase shift patterns. For example, selecting different receive phase shift patterns may control the angular direction in which reception is focused, such as described further herein. In some embodiments, when selected, RX1230may be configured to receive the RF receive signal(s) according to the specified phase shift pattern(s). For example, as shown inFIG.12, receive circuitry of Rx1230includes phase shifters1236a,1236b, and1236crespectively coupled to receive antenna elements1232a,1232b, and1232c. For instance, phase shifters1236a,1236b, and1236cmay be configured to apply a phase shift to an RF receive signal received by the respective receive antenna elements1232a,1232b, and1232cbased on a phase control signal1214(e.g., including and/or based on control signal1114), such as by introducing a controllable amount of phase shift to RF signals input to the respective phase shifter1236a,1236b, and1236c.

FIG.13Aillustrates example operation of RX1230according to a RX configuration1300ausing a first subset of receive antenna elements1232, in accordance with some embodiments of the technology described herein.

As shown inFIG.13A, each receive antenna element1232a,1232b, and1232creceives an RF receive signal via a receive beam. For instance, power amplifiers1234a,1234b, and1234cmay be configured to enable the respective receive antenna elements1232a,1232b, and1232cin response to the element selection control signal1212.

FIG.13Billustrates example operation of RX1230according to a receiver configuration1300busing a second subset of receive antenna elements1232, in accordance with some embodiments of the technology described herein.

In some embodiments, the subset(s) specified by a RX configuration may include a first subset of receive antenna elements1232and a second subset of receive antenna elements1232that is different from the first subset. For example, in RX configuration1300ainFIG.13A, a first subset of receive antenna elements1232a,1232b, and1232creceive the RF receive signal, whereas in RX configuration1300binFIG.13B, a second subset of receive antenna elements1232aand1232creceive the RF receive signal. For instance, the first and second subsets are different in that the second subset omits receive antenna element1232b. In the illustrated embodiment, power amplifier1234bmay be configured not to receive an RF receive signal, such as in response to element selection control signal1212. As a result, inFIG.13B, the resulting beamwidth of the receive beam is wider than inFIG.13A, which may provide lower resolution in azimuth thanFIG.13Awhile using less power.

In some embodiments, RX1230may be configured to receive, at a first time, a first RF receive signal of the RF receive signal(s) using the first subset and receive, at a second time after the first time, a second RF receive signal of the RF receive signal(s) using the second subset. For example, RX1230may be configured to receive the first RF receive signal using the first subset as shown inFIG.13Aat a first time and to receive the second RF receive signal using the second subset as shown inFIG.13Bat a second time after the first time. For instance, the first RF receive signal and the second RF receive signal may be received during different frames (e.g., each including or a part of a receive sweep over multiple receive beams over time) and/or during a frame (e.g., as part of a same receive sweep over multiple receive beams over time). In some embodiments, processing circuitry (e.g.,1110) of the radar device (e.g.,1100) may be configured to generate a range-cross range image using the first RF receive signal and the second RF receive signal (e.g., where the first RF receive signal and the second RF receive signal are received during a frame).

In some embodiments, RX1230may be configured to use a first amount of receive power receiving the first RF receive signal using the first subset of receive antenna elements1232and RX1230may be configured to use a second amount of receive power that is different from the first amount of receive power receiving the second RF receive signal using the second subset of receive antenna elements1232. For example, selecting fewer receive antenna elements1232inFIG.13Bthan inFIG.13Amay use less receive power than with a larger number of receive antenna elements1232, while resulting in a wider beamwidth inFIG.13Bthan inFIG.13A. Alternatively or additionally, selecting fewer receive antenna elements1232may result in fewer receive channels for processing downstream, which may lighten the computational load of receive processing (e.g., Fourier Transform).

FIG.14Aillustrates example operation of RX1230according to a first receive phase shift pattern1400a, in accordance with some embodiments of the technology described herein.

As shown inFIG.14A, each receive antenna element1232a,1232b, and1232creceives an RF receive signal to produce a receive beam. In the illustrated embodiment, each receive antenna element1232a,1232b, and1232cproduces a different phase shifted version of the RF receive signal, resulting in a phase front oriented in a nonzero azimuth angular direction. For instance, phase shifters1236a,1236b, and1236cmay be configured to apply different phase shifts in response to the phase shift control signal1214. In the illustrated embodiment, with a phase front oriented in an angular direction of azimuth, reception may be focused in that direction.

FIG.14Billustrates example operation of RX1230according to a second receive phase shift pattern1400b, in accordance with some embodiments of the technology described herein.

As shown inFIG.14B, each receive antenna element1232a,1232b, and1232creceives an RF receive signal to produce a receive beam with the same phase version of the RF receive signal, resulting in a phase front oriented at 0 degrees in azimuth. For instance, phase shifters1236a,1236b, and1236cmay be configured to apply the same (and/or zero) phase shift in response to the phase shift control signal1214.

FIG.14Cillustrates example operation of RX1230according to a third receive phase shift pattern1400c, in accordance with some embodiments of the technology described herein.

As shown inFIG.14C, each receive antenna element1232a,1232b, and1232creceives an RF receive signal to produce a receive beam with a different phase shifted version of the RF receive signal, resulting in a phase front oriented in a nonzero azimuth angular direction that is different from the angular direction shown inFIG.14A. For instance, phase shifters1236a,1236b, and1236cmay be configured to apply different phase shifts from one another and with respect to phase shift pattern1400ain response to the phase shift control signal1214.

In some embodiments, the specified phase shift pattern(s) may include a first phase shift pattern and a second phase shift pattern that is different from the first phase shift pattern. For example, the first phase shift pattern may be one of phase shift patterns1400aand1400band the second phase shift pattern may be phase shift pattern1000bor1000c, respectively.

In some embodiments, RX1230may be configured to receive, at a first time, a first RF receive signal of the RF receive signal(s) according to the first phase shift pattern and receive, at a second time after the first time, a second RF receive signal of the RF receive signal(s) according to the second phase shift pattern. For example, RX1230may be configured to receive the first RF receive signal according to phase shift pattern1400aas shown inFIG.14Aat a first time and to receive the second RF receive signal according to phase shift pattern1400bas shown inFIG.14Bat a second time after the first time. For instance, the first RF receive signal and the second RF receive signal may be received during different frames (e.g., each including or a part of a receive sweep over multiple receive beams over time) and/or during a frame (e.g., as part of a same receive sweep over multiple receive beams over time). In some embodiments, the processing circuitry (e.g.,1110) may be configured to generate a range-cross range image using the first RF receive signal and the second RF receive signal (e.g., where the first RF receive signal and the second RF receive signal are received during a frame).

FIG.14Dillustrates angular directions of reception focus in azimuth for receive phase shift patterns1400a,1400b, and1400c, respectively, in accordance with some embodiments of the technology described herein.

In some embodiments, the specified phase shift pattern(s) may be configured to perform an angular receive sweep over an angular field of view including a first angular direction and a second angular direction different from the first angular direction. For example, according to phase shift pattern1400a, RX1230may be configured to focus reception of a first RF receive signal in the first angular direction and, according to phase shift pattern1400b, RX1230may be configured to focus reception of the second RF receive signal in the second angular direction. For instance, as shown inFIG.14D, the angular directions of phase shift patterns1400a,1400b, and1400care different in the azimuth-longitude plane, with phase shift patterns1000aand1000cabove and below 0 degrees in azimuth and phase shift pattern1000bat 0 degrees in azimuth, along the longitudinal axis.

In some embodiments, RX configurations selectable by processing circuitry (e.g.,1110) may specify a plurality of different subsets of receive antenna elements1232and a plurality of different phase shift patterns applied to respective ones of the plurality of different subsets, and the RX configuration(s) selected by the processing circuitry may specify at least one subset of the plurality of different subsets and at least one phase shift pattern applied to the at least one subset. For example, a RX configuration may specify a subset (e.g., receive antenna elements1232aand1232cas inFIG.13B) and a phase shift pattern (e.g.,1400a), which may result in a beamwidth and a direction of focus. In some embodiments, RX1230may be configured to receive the RF receive signal(s) using the specified subset(s) according to the specified phase shift pattern(s). In some embodiments, RX1230may be configured to receive the RF receive signal(s) using the specified subset(s) according to the specified phase shift pattern(s). For example, selection of a subset of receive antenna elements1232may be in response to element selection control signal1212and a phase shift pattern may be in response to phase shift control signal1214.

V. Selection of Frame Rates

As mentioned above, the inventors have developed techniques for using a radar device based on situational awareness indicative of at least one characteristic of a vehicle. For example, situational awareness data indicative of a characteristic of a vehicle, a target object, and/or an environment of the vehicle may be used to operate a radar device in a manner appropriate for the situation. The inventors have recognized that a frame rate may be selected based on situational awareness data to balance a frequency at which radar images are generated with constraints on available power. For instance, a high frame rate may produce more radar images over time than a low frame rate, though a high frame rate may consume more power than a low frame rate due to potentially transmitting and receiving more RF signals to produce more radar images over time.

Some embodiments provide a method of using a radar device (e.g.,1500inFIG.15) to generate a range-cross range image of a target object (e.g.,206inFIG.2A). For example, the radar device may be configured in the manner described herein for radar device200including in connection withFIGS.2A-3B, including processing circuitry (e.g.,1510), a TX (e.g.,1520), and a RX (e.g.,1530).

In some embodiments, the method may include using processing circuitry (e.g.,1510) of the radar device (e.g.,1500), obtaining situational awareness data for a vehicle (e.g.,300inFIG.3A), the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle. For example, the situational awareness data may be as described herein including in connection withFIGS.2A-3B.

In some embodiments, the method may include, using the processing circuitry (e.g.,1510), selecting a frame rate (e.g., 1/tfinFIG.16) based on the situational awareness data for the vehicle.

In some embodiments, the method may include, using the processing circuitry (e.g.,1510), generating a plurality of range-cross range images corresponding to a respective plurality of frames defined by the frame rate. For example, generating the plurality of range-cross range images may include, for each frame of the plurality of frames, generating a respective range-cross range image using RF signals received by the radar device (e.g.,1500) during the frame. Alternatively, generating the images may include, for each of only some frames, generating a respective image using RF signals received by the radar device (e.g.,1500) during the frame.

In some embodiments, generating the range-cross range images may include, for a particular frame of the plurality of frames, generating a respective range-cross range image using one or more RF signals received by the radar device (e.g.,1500) during the particular frame. For example, the RF signal(s) may be generated at least in part by reflection of one or more RF transmit signals, which may be transmitted during the frame, though it is possible that an RF transmit signal may be transmitted before the frame and result in an RF signal being received during the frame (e.g., depending on the range of the object from which the RF signal is reflected). For instance, multiple RF signals may be received during a frame, such as resulting from an angular transmit and/or receive sweep during the frame, though in some cases only a single RF signal may be transmitted and/or received.

In some embodiments, the method may include, using the processing circuitry (e.g.,1510), outputting the plurality of range-cross range images. For example, the images may be output to a display (e.g.,350inFIG.3A) and/or a computer-assisted driving module (e.g.,352inFIG.3A), such as of a vehicle (e.g.,300) on which the radar device (e.g.,1500) is positioned.

In some embodiments, generating the respective image may include transmitting, using a RX (e.g.,1520) of the radar device (e.g.,1500), one or more RF transmit signals (e.g., transmit signals1620inFIG.16) and receiving, during the particular frame, using a RX (e.g.,1530) of the radar device (e.g.,1500), the RF signal(s) (e.g., receive signals1620) generated at least in part by reflection of the RF transmit signal(s) (e.g.,1610) from the target object. For example, transmitting the RF transmit signal(s) (e.g.,1610) may include transmitting a first RF transmit signal (e.g.,1612inFIG.16) of the RF transmit signal(s) and transmitting a second RF transmit signal (e.g.,1614) of the RF transmit signal(s), and the RF signal(s) may be generated at least in part by reflection of the first RF transmit signal (e.g., receive signal1622) and/or the second RF transmit signal (e.g., receive signal1624) from the target object. For instance, the first RF transmit signal and the second RF transmit signal may be transmitted during the particular frame and/or at times that would cause RF signal(s) reflected from a target object to reach the radar device (e.g.,1500) during the particular frame.

In some embodiments, the TX (e.g.,820inFIG.8) may include a transmit antenna array including a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of the transmit antenna array, transmitting the first RF transmit signal (e.g.,1612) may use a first subset of the plurality of transmit antenna elements (e.g.,822a,822b, and822c), and transmitting the second RF transmit signal (e.g.,1624) may use a second subset of the plurality of transmit antenna elements (e.g.,822aand822c) that is different from the first subset of the plurality of transmit antenna elements.

In some embodiments, the TX (e.g.,820) may include a transmit antenna array including a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of the transmit antenna array, and transmitting the first RF transmit signal (e.g.,1612) may be via the plurality of transmit antenna elements (e.g.,822) according to a first transmit phase shift pattern (e.g.,1000ainFIG.10A) and transmitting the second RF transmit signal (e.g.,1614) may be via the plurality of transmit antenna elements (e.g.,822) according to a second transmit phase shift pattern (e.g.,1000binFIG.10B) that is different from the first transmit phase shift pattern.

In some embodiments, the TX (e.g.,822) may include a transmit antenna array including a plurality of transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of the transmit antenna array, and transmitting the first RF transmit signal (e.g.,1612) may be via the plurality of transmit antenna elements (e.g.,822) according to a first transmit power level (e.g.,FIG.9A) and transmitting the second RF transmit signal (e.g.,1614) may be via the plurality of transmit antenna elements (e.g.,822) according to a second transmit power level (e.g.,FIG.9B) that is different from the first transmit power level.

In some embodiments, the RF transmit signal(s) may have frequency content in a frequency band of 300 GHZ-3 THz.

In some embodiments, the RX (e.g.,1230) may include a receive antenna array including a plurality of receive antenna elements (e.g.,1232) arranged along a dimension (e.g., azimuth) of the receive antenna array, and receiving the RF signal(s) (e.g.,1620) may include using a first subset (e.g.,1232a,1232b, and1232c) of the plurality of receive antenna elements during a first time period within the particular frame and using a second subset (e.g.,1232aand1232c) of the plurality of receive antenna elements during a second time period that is after the first time period and within the particular frame, the second subset (e.g.,1232aand1232c) of the plurality of receive antenna elements being different from the first subset (e.g.,1232a,1232b, and1232cof the plurality of receive antenna elements, and the RF signal(s) (e.g.,1620) may be received during the first time period and/or the second time period.

In some embodiments, the RX (e.g.,1230) may include a receive antenna array including a plurality of receive antenna elements (e.g.,1232) arranged along a dimension (e.g., azimuth) of the receive antenna array, and receiving the RF signals (e.g.,1620) may include operating the plurality of receive antenna elements (e.g.,1232) according to a first receive phase shift pattern (e.g.,1400a) during a first time period within the particular frame and operating the plurality of receive antenna elements (e.g.,1232) according to a second receive phase shift pattern (e.g.,1400b) during a second time period that is after the first time period and within the particular frame, the second receive phase shift pattern (e.g.,1400b) being different from the first receive phase shift pattern (e.g.,1400a), and the RF signal(s) (e.g.,1620) may be received during the first time period and/or the second time period.

FIG.15illustrates an example radar device1500having processing circuitry1510configured to select among frame rates for operating the radar device1500, in accordance with some embodiments of the technology described herein.

In some embodiments, processing circuitry1510may be configured to obtain situational awareness data for a vehicle (e.g.,300inFIG.3A), the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, such as described herein for processing circuitry210including in connection withFIGS.3A-3B.

In some embodiments, processing circuitry1510may be configured to select a frame rate based on the situational awareness data for the vehicle (e.g.,300). For example, as shown inFIG.15, processing circuitry1510includes frame rate selection circuitry1512, which may be configured to select one or more frame rates based on situational awareness data, such as described herein for processing circuitry210. For instance, the situational awareness data may be indicative of at least one characteristic of the vehicle (e.g.,300), at least one characteristic of the target object, and/or at least one characteristic of the environment of the vehicle.

In some embodiments, processing circuitry1510may be configured to generate a plurality of range-cross range images corresponding to a respective plurality of frames defined by the frame rate and output the range-cross range images. For example, as shown inFIG.15, radar device1500includes TX1520, which may be configured to transmit RF signals, and RX1530, which may be configured to receive RF signals generated at least in part by reflection of the transmitted RF signals from a target object.

FIG.16illustrates transmission and reception of RF signals1610,1620by radar device1500during a frame1602according to a frame rate, in accordance with some embodiments of the technology described herein. For example, inFIG.16, the frame1602has a frame duration tfwhich may be the reciprocal of the frame rate selected by processing circuitry1510. For instance, the frame duration tfmay be 50 ms for a 20 FPS frame rate or 100 ms for a 10 FPS frame rate.

In some embodiments, processing circuitry1510may be configured to, for a particular frame1602of a plurality of frames, generate a respective range-cross range image using one or more RF signals1620received by radar device1500during the particular frame1602. For example, TX1520may be configured to transmit one or more RF transmit signals1610and RX1530may be configured to receive, during the particular frame, RF signal(s)1620generated at least in part by reflection of the RF transmit signal(s)1610from a target object. For instance, TX1520may be configured to transmit a first RF transmit signal1612of the RF transmit signal(s)1610and transmit a second RF transmit signal1614of the RF transmit signal(s)1610, and the RF signal(s)1620may be generated at least in part by reflection of the first RF transmit signal1612and/or the second RF transmit signal1614from the target object. In the illustrated embodiment, a first RF receive signal1622may be generated at least in part by reflection of the first RF transmit signal1612, a second RF receive signal1624may be generated at least in part by reflection of the second RF transmit signal1614, and a third RF receive signal1626may be generated at least in part by reflection of a third RF transmit signal1616. It should be appreciated that not every RF transmit signal may correspond to a received RF signal, for instance, since not every RF transmit signal may be reflected by a target object within a longitudinal range of the radar device1500(e.g., depending on the amount of transmit power used, the direction of focus of the RF transmission, and the presence, absence, and/or location of target objects in the environment).

In some embodiments, TX1520may be configured to transmit the RF transmit signal(s)1610during the particular frame1602and/or at times that would cause RF signal(s)1620reflected from a target object to reach the radar device1500during the particular frame1602. For example, inFIG.16, each RF transmit signal1610is shown being transmitted during the particular frame1602, though it should be appreciated that an RF transmit signal1610(e.g.,1612) may be transmitted, at least in part, before the particular frame1602while still producing an RF receive signal (e.g.,1622) to be received during the particular frame1602.

In some embodiments, processing circuitry1510may be configured to, for each frame of the plurality of frames, generate a respective range-cross range image using RF signals received by the radar device1500during the frame. For example, while a single frame1602is shown inFIG.16, RF signals (e.g.,1620) may be received during each of a plurality of frames and images may be generated using the RF signals.

In some embodiments, TX1520may include a transmit antenna array including transmit antenna elements (e.g.,822) arranged along a dimension (e.g., elevation) of the transmit antenna array, such as described herein including in connection withFIGS.8-10D. As one example, TX1520may be configured to transmit the first RF transmit signal1612via the transmit antenna elements according to a first transmit power level and transmit the second RF transmit signal1614via the transmit antenna elements according to a second transmit power level that is different from the first transmit power level, such as described herein including in connection withFIGS.9A-9B. For instance, the RF transmit signals1612and1614may be transmitted with different longitudinal ranges.

As another example, TX1520may be configured to transmit the first RF transmit signal1612using a first subset (e.g.,822a,822b, and822c) of the transmit antenna elements and transmit the second RF transmit signal1614using a second subset (e.g.,822aand822c) of the plurality of transmit antenna elements that is different from the first subset of the plurality of transmit antenna elements, such as described herein including in connection withFIGS.9B-9C. For instance, the first RF transmit signal1612may be transmitted with a wider or narrower transmit beamwidth than the second RF transmit signal1614, such as for less or greater amounts of resolution (e.g., in elevation).

As another example, TX1520may be configured to transmit the first RF transmit signal1612via the transmit antenna elements according to a first transmit phase shift pattern (e.g.,1000ainFIG.10A) and transmit the second RF transmit signal1614via the transmit antenna elements according to a second transmit phase shift pattern (e.g.,1000binFIG.10B) that is different from the first transmit phase shift pattern, such as described herein including in connection withFIGS.10A-10C. For instance, transmission of the first RF transmit signal1612may be focused in a first angular direction (e.g., in elevation) and transmission of the second RF transmit signal1614may be focused in a second angular direction (e.g., in elevation). In some embodiments, an angular sweep of transmission may be performed within a frame according to the selected frame rate.

In some embodiments, the RF transmit signal(s) may have frequency content in a frequency band of 300 GHz-3 THz. In the illustrated embodiment, RF transmit signal1612has a pulse duration ta, which together with the bandwidth of the RF transmit signal1612may define the range resolution available from the RF transmit signal1612. For instance, the waveform type of RF transmit signal1612may be set based on situational awareness data, such as described herein including in connection withFIGS.5A-6D.

In some embodiments, RX1530may include a receive antenna array including receive antenna elements (e.g.,1232) arranged along a dimension of the receive antenna array. As one example, RX1530may be configured to use a first subset (e.g.,1232a,1232b, and1232c) of the plurality of receive antenna elements during a first time period within the particular frame (e.g., during which receive signal1622is received) and use a second subset (e.g.,1232aand1232c) of the plurality of receive antenna elements that is different from the first subset of the plurality of receive antenna elements during a second time period that is after the first time period and within the particular frame (e.g., during which receive signal1614is received). For instance, reception during the first time period have a wider or narrower receive beamwidth than during the second time period, such as for less or greater amounts of resolution (e.g., in azimuth). In some embodiments, RX1530may be configured to receive the RF signal(s)1622,1624during the first time period and/or the second time period, (e.g., respectively).

As another example, RX1530may be configured to operate according to a first receive phase shift pattern (e.g.,1400a) during a first time period within the particular frame and operate according to a second receive phase shift pattern (e.g.,1400b) that is different from the first receive phase shift pattern during a second time period that is after the first time period and within the particular frame. For instance, while not shown inFIG.16, reception during the first time period (e.g., of the first RF receive signal1622) may be focused in a first angular direction (e.g., in azimuth) and reception during the second time period (e.g., of the second RF receive signal1624) may be focused in a second angular direction (e.g., in azimuth), such as described herein for RF transmit signals1612and1614. In some embodiments, RX1530may be configured to receive the RF signal(s)1622,1624during the first time period and/or the second time period (e.g., respectively). For instance, an angular sweep of reception may be performed over multiple time periods within a frame according to the selected frame rate.

VI. Example Radar Operational Configurations

FIG.17illustrates example operation of a RX of a radar device according to a TX configuration of a first radar operational configuration, in accordance with some embodiments of the technology described herein.

In some embodiments, the first radar operational configuration may be selected based on situational awareness data indicating that a vehicle is traveling at low speed and/or in a parking mode of operation. For example, as shown inFIG.17, the illustrated TX configuration specifies, during a frame (e.g., at 20 FPS), an angular field of view sweep in elevation from −70 degrees to 30 degrees (e.g., with 0 degrees being normal to the plane of the transmit antenna array), such as by transmitting an RF signal using each illustrated transmit beam in sequence (e.g., over a time period of 6 milliseconds). For instance, the angular field of view may be divided between a first sub-FOV from −70 degrees to 0 degrees, having a longitudinal range of 5 meters (e.g., using near-field radiation) and a second sub-FOV from 0 degrees to 30 degrees having a longitudinal range of 50 meters. In some embodiments, the angular field of view shown inFIG.17may be obtained using a selected transmit phase shift pattern that focuses transmission in each illustrated transmit beam. In some embodiments, the difference in longitudinal range between the first sub-FOV and the second sub-FOV may be obtained by using a first transmit power level for the first sub-FOV that is lower than a second transmit power level for the second sub-FOV. In some embodiments, the beamwidths of the illustrated transmit beams may be substantially equal, such as by using a same subset of transmit antenna elements for each transmitted RF signal.

In some embodiments, the first radar operational configuration may specify transmitting different RF transmit signals for the first sub-FOV and the second sub-FOV. For example, a first RF transmit signal having a pulse duration of 33 microseconds and bandwidth of 5 GHz may be used for the first sub-FOV and a second RF transmit signal having a pulse duration of 330 microseconds and bandwidth of 5 GHz may be used for the second sub-FOV, such as due to the shorter range of the first sub-FOV. While eight transmit beams are shown inFIG.17, fewer or greater numbers of transmit beams may be used, such as 10 or 15 transmit beams.

FIG.18illustrates example operation of a RX of the radar device ofFIG.17according to a RX configuration of the first radar operational configuration, in accordance with some embodiments of the technology described herein.

As shown inFIG.18, the illustrated RX configuration specifies, during the frame (e.g., responsive to reflection of the transmit beams ofFIG.17), an angular field of view sweep in azimuth from −90 degrees to 90 degrees (e.g., with 0 degrees being normal to the plane of the receive antenna array), such as by receiving any RF receive signals (if present) using each illustrated receive beam in sequence. In some embodiments, the angular field of view shown inFIG.18bay be obtained using a selected receive phase shift pattern that focuses reception in each illustrated receive beam. In some embodiments, the beamwidths of the illustrated receive beams may be substantially equal, such as by using a same subset of receive antenna elements for each receive beam. In the illustrated embodiment, a subset including fewer than all (e.g., half) of receive antenna elements may be selected for reception during each beam, resulting in moderate (e.g., half) spatial resolution in azimuth, such as due to wider beamwidths than if all receive antenna elements were used.

FIG.19illustrates example operation of a RX of the radar device ofFIG.17according to a RX configuration of a second radar operational configuration, in accordance with some embodiments of the technology described herein.

In some embodiments, the second radar operational configuration may be selected based on situational awareness data indicating that a vehicle is traveling at high speed, on a highway, and/or in a highway mode of operation. For example, as shown inFIG.19, the illustrated TX configuration specifies, during a frame (e.g., at 20 FPS), an angular field of view sweep in elevation from −5 degrees to 25 degrees, such as by transmitting an RF signal using each illustrated transmit beam in sequence (e.g., over a 6 ms time period). For instance, each illustrated transmit beam may have a longitudinal range of 300 meters. In some embodiments, the angular field of view shown inFIG.19may be obtained using a selected transmit phase shift pattern that focuses transmission in each illustrated transmit beam. In some embodiments, a longitudinal range of 300 m may be obtained by using a first transmit power level that provides the same amount of power to the illustrated transmit beams as in the first radar operational configuration but over a smaller number of transmit beams over the same amount of time (e.g., due to the smaller angular field of view). In some embodiments, the beamwidths of the illustrated transmit beams may be substantially equal, such as by using a same subset of transmit antenna elements for each transmitted RF signal.

In some embodiments, the second radar operational configuration may specify transmitting RF transmit signals for each transmit beam having a pulse duration of 1 millisecond and bandwidth of 2.5 GHZ, which may provide sufficient range resolution over the longitudinal range of 300 meters. While six transmit beams are shown inFIG.17, fewer or greater numbers of transmit beams may be used, such as 4 or 8 transmit beams.

FIG.20illustrates example operation of a RX of the radar device ofFIG.17according to a RX configuration of the second radar operational configuration, in accordance with some embodiments of the technology described herein.

As shown inFIG.20, the illustrated RX configuration specifies, during the frame (e.g., responsive to reflection of the transmit beams ofFIG.19), an angular field of view sweep in azimuth from −90 degrees to 90 degrees (e.g., with 0 degrees being normal to the plane of the receive antenna array), such as by receiving any RF receive signals (if present) using each illustrated receive beam in sequence. In some embodiments, the angular field of view shown inFIG.20bay be obtained using a selected receive phase shift pattern that focuses reception in each illustrated receive beam. In some embodiments, the beamwidths of the illustrated receive beams may be substantially equal, such as by using a same subset of receive antenna elements for each receive beam. In the illustrated embodiment, a subset including most or all receive antenna elements may be selected for reception during each beam, resulting in high spatial resolution in azimuth, such as due to narrower beamwidths than if fewer receive antenna elements were used.

FIG.21illustrates example operation of a TX of the radar device ofFIG.17according to a TX configuration of a third radar operational configuration, in accordance with some embodiments of the technology described herein.

In some embodiments, the third radar operational configuration may be selected based on situational awareness data indicating that a vehicle is in an anomalous environment, such as above a threshold environmental temperature. For example, as shown inFIG.21, the illustrated TX configuration specifies, during a frame (e.g., at 10 FPS), an angular field of view sweep in elevation from −5 degrees to 25, such as by transmitting an RF signal using each illustrated transmit beam in sequence (e.g., over a 3 ms time period). For instance, each illustrated transmit beam may have a longitudinal range of 200 meters. In some embodiments, the angular field of view shown inFIG.21may be obtained using a selected transmit phase shift pattern that focuses transmission in each illustrated transmit beam. In some embodiments, a longitudinal range of 200 m may be obtained by using a transmit power level that provides the same of power to the illustrated transmit beams as in the second radar operational configuration over the same number of transmit beams but over a shorter amount of time by using a shorter duration RF transmit signal (e.g., with the sequence occurring over 3 ms instead of 6 ms). In some embodiments, the beamwidths of the illustrated transmit beams may be substantially equal, such as by using a same subset of transmit antenna elements for each transmitted RF signal.

In some embodiments, the third radar operational configuration may specify transmitting RF transmit signals for each transmit beam having a pulse duration of 0.5 milliseconds and bandwidth of 1.8 GHZ, which may provide sufficient range resolution over the longitudinal range of 200 meters balanced with lower power operation than the second operational configuration. While six transmit beams are shown inFIG.21, fewer or greater numbers of transmit beams may be used, such as 4 or 8 transmit beams.

In some embodiments the third radar operational configuration may use the same RX configuration as the second radar operational configuration, such as shown inFIG.20.

In some embodiments, the third radar operational configuration may further specify a frame rate that is lower than the first radar operational configuration and the second radar operational configuration. For example, the third radar operational configuration may specify a frame rate that is half the frame rates of the first radar operational configuration and the second radar operational configuration. For instance, at a frame rate of 20 FPS, a 6 ms transmit and receive sequence of the second radar operational configuration may be performed every 50 ms, whereas at a frame rate of 10 FPS, a 3 ms transmit and receive sequence of the third radar operational configuration may be performed every 100 ms, thereby using less power over time.

FIG.22illustrates example operation of a TX of the radar device ofFIG.17according to a TX configuration of a fourth radar operational configuration, in accordance with some embodiments of the technology described herein.

In some embodiments, the fourth radar operational configuration may be selected based on situational awareness data indicating that a target object has been detected, such as a small object (e.g., a tire, a boulder) and/or a vulnerable road user (e.g., a pedestrian and/or cyclist). For example, as shown inFIG.22, the illustrated TX configuration specifies, during a frame (e.g., at 20 FPS), an angular field of view sweep in elevation from 3 degrees below the detected elevation of the target object to 3 degrees above the detected elevation of the target object, such as by transmitting an RF signal using each illustrated transmit beam in sequence (e.g., over a 6 ms time period). For instance, each illustrated transmit beam may have a longitudinal range of 300 meters. In some embodiments, the angular field of view shown inFIG.22may be obtained using a selected transmit phase shift pattern that focuses transmission in each illustrated transmit beam. In some embodiments, a longitudinal range of 300 m may be obtained by using a transmit power level that provides power to the illustrated transmit beams over a small number of transmit beams. In some embodiments, the beamwidths of the illustrated transmit beams may be substantially equal, such as by using a same subset of transmit antenna elements for each transmitted RF signal.

In some embodiments, the second radar operational configuration may specify transmitting RF transmit signals for each transmit beam having a pulse duration of 1 millisecond and bandwidth of 2.5 GHZ, which may provide sufficient range resolution over the longitudinal range of 300 meters. While three transmit beams are shown inFIG.22, fewer or greater numbers of transmit beams may be used, such as 2 or 6 transmit beams.

FIG.23illustrates example operation of a RX of the radar device ofFIG.17according to a RX configuration of the fourth radar operational configuration, in accordance with some embodiments of the technology described herein.

As shown inFIG.23, the illustrated RX configuration specifies, during the frame (e.g., responsive to reflection of the transmit beams ofFIG.22), an angular field of view sweep in azimuth from 10 degrees below the detected azimuth position of the target object to 10 degrees above the detected azimuth position, such as by receiving any RF receive signals (if present) using each illustrated receive beam in sequence. In some embodiments, the angular field of view shown inFIG.23may be obtained using a selected receive phase shift pattern that focuses reception in each illustrated receive beam. In some embodiments, the beamwidths of the illustrated receive beams may be substantially equal, such as by using a same subset of receive antenna elements for each receive beam. In the illustrated embodiment, a subset including most or all receive antenna elements may be selected for reception during each beam, resulting in high spatial resolution in azimuth, such as due to narrower beamwidths than if fewer receive antenna elements were used.

VII. Example Computer System

FIG.24illustrates an example computer system2400that may be configured to perform at least some processing operations in the radar devices described herein, in accordance with some embodiments of the technology described herein.

An illustrative implementation of a computer system2400that may be used in connection with any of the embodiments of the disclosure provided herein is shown inFIG.24. For example, in some embodiments, operations described herein may be performed using the computer system2400(e.g., implemented using processing circuitry of a radar device). The computer system2400may include one or more processors2402and one or more articles of manufacture that comprise non-transitory computer-readable storage media (e.g., memory2404and one or more non-volatile storage media2406). The processor2402may control writing data to and reading data from the memory2404and the non-volatile storage device2406in any suitable manner, as the aspects of the disclosure provided herein are not limited in this respect. To perform any of the functionality described herein, the processor2402may execute one or more processor-executable instructions stored in one or more non-transitory computer-readable storage media (e.g., the memory2404), which may serve as non-transitory computer-readable storage media storing processor-executable instructions for execution by the processor2402.

VIII. Listing of Some Examples

Example A1. A method of using a radar device to collect data about a target object, the radar device configured to transmit and/or receive RF signals in a plurality of radar operational configurations, the method comprising: obtaining, by processing circuitry of the radar device, situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; selecting, by the processing circuitry, using the situational awareness data for the vehicle and from among the plurality of radar operational configurations, at least one radar operational configuration to use for collecting the data about the target object; transmitting, using a transmitter of the radar device according to the at least one radar operational configuration, one or more RF transmit signals; and receiving, using a receiver of the radar device according to the at least one radar operational configuration, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example A2. The method of example A1, wherein the vehicle is a car.

Example A3. The method of example A1 or A2, wherein the situational awareness data comprises data selected from a group consisting of: data indicating a velocity of the vehicle; data indicating that the vehicle is in a cruise control and/or lane departure prevention mode; data indicating that the vehicle is parking; data indicating that the vehicle is on a highway; data indicating a low power level of the vehicle; data indicating a distance from the vehicle to the target object; data indicating a velocity of the target object; data indicating an elevation range of the target object with respect to the radar device; data indicating an azimuth range of the target object with respect to the radar device; data indicating a level of traffic in the environment of the vehicle; data indicating a type of road on which the vehicle is traveling; data indicating a weather condition in the environment of the vehicle; and data indicating a hazardous condition in the environment of the vehicle.

Example A4. The method of any one of examples A1 to A3, wherein: the plurality of radar operational configurations specify a plurality of waveform types having corresponding frequency bandwidths; the at least one radar operational configuration specifies at least one waveform type of the plurality of waveform types having a corresponding frequency bandwidth; and the one or more RF transmit signals have the at least one waveform type.

Example A5. The method of any one of examples A1 to A4, wherein: the transmitter comprises a plurality of transmit antenna elements arranged along a dimension of a transmit antenna array of the transmitter; the plurality of radar operational configurations specify a plurality of different subsets of the plurality of transmit antenna elements, the at least one radar operational configuration specifying at least one subset of the plurality of different subsets; and transmitting the one or more RF transmit signals according to the at least one radar operational configuration comprises transmitting the one or more RF transmit signals using the at least one subset of the plurality of different subsets of the plurality of transmit antenna elements.

Example A6. The method of any one of examples A1 to A4, wherein: the transmitter comprises a plurality of transmit antenna elements arranged along a dimension of a transmit antenna array of the transmitter; the plurality of radar operational configurations specify a plurality of different transmit phase shift patterns for transmitting the one or more RF transmit signals via the plurality of transmit antenna elements, the at least one radar operational configuration specifying at least one transmit phase shift pattern of the plurality of different transmit phase shift patterns; and transmitting the one or more RF transmit signals according to the at least one radar operational configuration comprises transmitting the one or more RF transmit signals according to the at least one transmit phase shift pattern.

Example A7. The method of any one of examples A1 to A6, wherein: the receiver comprises a plurality of receive antenna elements arranged along a dimension of a receive antenna array of the receiver; the plurality of radar operational configurations specify a plurality of different subsets of the plurality of receive antenna elements, the at least one radar operational configuration specifying at least one subset of the plurality of different subsets; and receiving the one or more RF receive signals according to the at least one radar operational configuration comprises receiving the one or more RF receive signals using the at least one subset of the plurality of different subsets of the plurality of receive antenna elements.

Example A8. The method of any one of examples A1 to A6, wherein: the receiver comprises a plurality of receive antenna elements arranged along a dimension of a receive antenna array of the receiver; the plurality of radar operational configurations specify a plurality of different receive phase shift patterns for receiving the one or more RF receive signals via the plurality of receive antenna elements, the at least one radar operational configuration specifying at least one receive phase shift pattern of the plurality of different receive phase shift patterns; and receiving the one or more RF receive signals comprises receiving the one or more RF receive signals according to the at least one receive phase shift pattern.

Example 9. The method of any one of examples A1 to A8, further comprising:

generating, using processing circuitry of the radar device according to the at least one radar operational configuration, using the one or more RF receive signals, a range-cross range image of the target object; wherein: the plurality of radar operational configurations specify a plurality of frame rates; the at least one radar operational configuration specifies at least one frame rate of the plurality of frame rates; and generating the range-cross range image uses the one or more RF receive signals received during a frame defined by the at least one frame rate.

Example A10. The method of any one of examples A1 to A9, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GH2-3 THz.

Example A11. A radar device for collecting data about a target object, the radar device being configured to transmit and/or receive RF signals in a plurality of radar operational configurations, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; and select, using the situational awareness data for the vehicle and from among the plurality of radar operational configurations, at least one radar operational configuration to use for collecting the data about the target object; a transmitter configured to transmit, according to the at least one radar operational configuration, one or more RF transmit signals; and a receiver configured to receive, according to the at least one radar operational configuration, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example A12. The radar device of example A11, wherein the vehicle is a car.

Example A13. The radar device of example A11 or A12, wherein the situational awareness data comprises data selected from a group consisting of: data indicating a velocity of the vehicle; data indicating that the vehicle is in a cruise control and/or lane departure prevention mode; data indicating that the vehicle is parking; data indicating that the vehicle is on a highway; data indicating a low power level of the vehicle; data indicating a distance from the vehicle to the target object; data indicating a velocity of the target object; data indicating an elevation range of the target object with respect to the radar device; data indicating an azimuth range of the target object with respect to the radar device; data indicating a level of traffic in the environment of the vehicle; data indicating a type of road on which the vehicle is traveling; data indicating a weather condition in the environment of the vehicle; and data indicating a hazardous condition in the environment of the vehicle.

Example A14. The radar device of any one of examples A11 to A13, wherein: the plurality of radar operational configurations specify a plurality of waveform types having corresponding frequency bandwidths; the at least one radar operational configuration specifies at least one waveform type of the plurality of waveform types having a corresponding frequency bandwidth; and the transmitter is configured to transmit the one or more RF transmit signals having the at least one waveform type.

Example A15. The radar device of any one of examples A11 to A14, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; the plurality of radar operational configurations specify a plurality of different subsets of the plurality of transmit antenna elements, the at least one radar operational configuration specifying at least one subset of the plurality of different subsets; and the transmitter is configured to transmit the one or more RF transmit signals using the at least one subset of the plurality of different subsets of the plurality of transmit antenna elements.

Example A16. The radar device of any one of examples A11 to A14, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; the plurality of radar operational configurations specify a plurality of different transmit phase shift patterns for transmitting the one or more RF transmit signals via the plurality of transmit antenna elements, the at least one radar operational configuration specifying at least one transmit phase shift pattern of the plurality of different transmit phase shift patterns; and the transmitter is configured to transmit the one or more RF transmit signals according to the at least one transmit phase shift pattern.

Example A17. The radar device of any one of examples A11 to A16, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; the plurality of radar operational configurations specify a plurality of different subsets of the plurality of receive antenna elements, the at least one radar operational configuration specifying at least one subset of the plurality of different subsets; and the receiver is configured to receive the one or more RF receive signals using the at least one subset of the plurality of different subsets of the plurality of receive antenna elements.

Example A18. The radar device of any one of examples A11 to A16, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; the plurality of radar operational configurations specify a plurality of different receive phase shift patterns for receiving the one or more RF receive signals via the plurality of receive antenna elements, the at least one radar operational configuration specifying at least one receive phase shift pattern of the plurality of different receive phase shift patterns; and the receiver is configured to receive the one or more RF receive signals according to the at least one receive phase shift pattern.

Example A19. The radar device of any one of examples A11 to A18, wherein: the plurality of radar operational configurations specify a plurality of frame rates; the at least one radar operational configuration specifies at least one frame rate of the plurality of frame rates; and the processing circuitry is further configured to generate, according to the at least one radar operational configuration, a range-cross range image of the target object at least in part by using the one or more RF receive signals, received during a frame defined by the at least one frame rate, to generate the range-cross range image.

Example A20. The radar device of any one of examples A11 to A19, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GHZ-3 THz.

Example B1. A method of using a radar device to collect data about a target object, the radar device configured to transmit a plurality of waveform types having corresponding frequency bandwidths, the method comprising: obtaining, using processing circuitry of the radar device, situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; selecting, using the processing circuitry, using the situational awareness data for the vehicle and from among the plurality of waveform types having corresponding frequency bandwidths, at least one waveform type to use for collecting the data about the target object; transmitting, using the radar device, one or more RF transmit signals having at least one frequency bandwidth corresponding to the at least one waveform type; and receiving, using the radar device, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example B2. The method of example B1, wherein: the plurality of waveform types comprises a first waveform type having a first frequency bandwidth and a second waveform type having a second frequency bandwidth, the first frequency bandwidth is between 1 GHZ and 5 GHz, and the second frequency bandwidth is between 6 GHz and 20 GHZ, and selecting the at least one waveform type comprising selecting at least one of the first waveform type and the second waveform type using the situational awareness data for the vehicle.

Example B3. The method of example B1, wherein: the plurality of waveform types comprises a first waveform type having a first frequency bandwidth, a second waveform type having a second frequency bandwidth and a third waveform type having a third frequency bandwidth, the first frequency bandwidth is between 1 GHz and 5 GHZ, the second frequency bandwidth is between 6 GHz and 12 GHz and the third frequency bandwidth is between 13 GHz and 25 GHz, and selecting the at least one waveform type comprising selecting at least one among the first waveform type, the second waveform type and the third waveform type using the situational awareness data for the vehicle.

Example B4. The method of any one of examples B1-3, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GHZ-3 THz.

Example B5. The method of any one of examples B1-4, wherein:

transmitting the one or more RF transmit signals comprises transmitting one or more RF chirps having at least one frequency bandwidth corresponding to the at least one waveform type.

Example B6. The method of example B5, wherein the one or more RF chirps have durations between 5 μs and 100 ms.

Example B7. The method of example B5, wherein the one or more RF chirps have durations between 50 us and 2 ms.

Example B8. The method of any one of examples B1-7, further comprising: generating, using the processing circuitry, one or more range-cross range images of the target object using the one or more RF receive signals at a frame rate between 10 frames per second and 30 frames per second.

Example B9. The method of any one of examples B1-8, wherein: selecting the at least one waveform type comprises selecting, using the situational awareness data for the vehicle and from among the plurality of waveform types, a first waveform type and a second waveform type, transmitting the one or more RF transmit signals comprises: transmitting, during a first time interval, a first RF transmit signal having a first frequency bandwidth corresponding to the first waveform type; and transmitting, during a second time interval subsequent to the first time interval, a second RF transmit signal having a second frequency bandwidth corresponding to the second waveform type, wherein the second frequency bandwidth is different from the first frequency bandwidth; and receiving the one or more RF receive signals comprises: receiving a first RF receive signal generated by reflection of the first RF transmit signal from the target object; and receiving a second RF receive signal generated by reflection of the second RF transmit signal from the target object.

Example B10. The method of example B9, wherein the first frequency bandwidth is between 1 GHz and 5 GHz, and the second frequency bandwidth is between 6 GHZ and 20 GHz.

Example B11. A radar device for collecting data about a target object, the radar device being configured to transmit a plurality of waveform types having corresponding frequency bandwidths, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, and select, using the situational awareness data for the vehicle and from among the plurality of waveform types having corresponding frequency bandwidths, at least one waveform type to use for collecting the data about the target object; a transmitter configured to transmit one or more RF transmit signals having at least one frequency bandwidth corresponding to the at least one waveform type; and a receiver configured to receive one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example B12. The radar device of example B11, wherein: the plurality of waveform types comprises a first waveform type having a first frequency bandwidth and a second waveform type having a second frequency bandwidth, the first frequency bandwidth is between 1 GHz and 5 GHZ, and the second frequency bandwidth is between 6 GHz and 20 GHz, and selecting the at least one waveform type comprising selecting at least one of the first waveform type and the second waveform type using the situational awareness data for the vehicle.

Example B13. The radar device of example B11, wherein: the plurality of waveform types comprises a first waveform type having a first frequency bandwidth, a second waveform type having a second frequency bandwidth and a third waveform type having a third frequency bandwidth, the first frequency bandwidth is between 1 GHz and 5 GHZ, the second frequency bandwidth is between 6 GHz and 12 GHz and the third frequency bandwidth is between 13 GHz and 25 GHZ, and selecting the at least one waveform type comprising selecting at least one among the first waveform type, the second waveform type and the third waveform type using the situational awareness data for the vehicle.

Example B14. The radar device of any one of examples B11-13, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GHZ-3 THz.

Example B15. The radar device of any one of examples B11-12, wherein: transmitting the one or more RF transmit signals comprises transmitting one or more RF chirps having at least one frequency bandwidth corresponding to the at least one waveform type.

Example B16. The radar device of example B15, wherein the one or more RF chirps have durations between 5 us and 100 ms.

Example B17. The radar device of example B15, wherein the one or more RF chirps have durations between 50 us and 2 ms.

Example B18. The radar device of any one of examples B11-17, wherein the processing circuitry is configured to: generate one or more range-cross range images of the target object using the one or more RF receive signals at a frame rate between 10 frames per second and 30 frames per second.

Example B19. The radar device of any one of examples B11-18, wherein: selecting the at least one waveform type comprises selecting, using the situational awareness data for the vehicle and from among the plurality of waveform types, a first waveform type and a second waveform type, transmitting the one or more RF transmit signals comprises: transmitting, during a first time interval, a first RF transmit signal having a first frequency bandwidth corresponding to the first waveform type; and transmitting, during a second time interval subsequent to the first time interval, a second RF transmit signal having a second frequency bandwidth corresponding to the second waveform type, wherein the second frequency bandwidth is different from the first frequency bandwidth; and receiving the one or more RF receive signals comprises: receiving a first RF receive signal generated by reflection of the first RF transmit signal from the target object; and receiving a second RF receive signal generated by reflection of the second RF transmit signal from the target object.

Example B20. The radar device of example B19, wherein the first frequency bandwidth is between 1 GHz and 5 GHZ, and the second frequency bandwidth is between 6 GHz and 20 GHz.

Example C1. A method of using a radar device to collect data about a target object, the radar device configured to transmit of a plurality of waveform types having a corresponding plurality of frequency bandwidths, the method comprising: obtaining, using processing circuitry of the radar device, situational awareness data for a vehicle; generating, using the processing circuitry, one or more range-cross range images of the target object at least in part by: selecting waveform bandwidths to use for imaging the target object based on the obtained situational awareness data for the vehicle; and imaging the target object using one or more RF signals corresponding to the selected waveform bandwidths.

Example C2. The method of example C1, wherein selecting waveform bandwidths to use for imaging the target object comprises selecting waveform bandwidths based on data indicative of a velocity of the vehicle.

Example C3. The method of any one of examples C1-2, wherein selecting waveform bandwidths to use for imaging the target object comprises selecting waveform bandwidths based on data indicative of a velocity of the target object relative to a velocity of the vehicle.

Example C4. The method of any one of examples C1-3, wherein selecting waveform bandwidths to use for imaging the target object is performed using data indicative of whether a cruise control for the vehicle is activated.

Example C5. The method of any one of examples C1-4, wherein selecting waveform bandwidths to use for imaging the target object is performed using data indicative of at least one weather condition associated with the vehicle's environment.

Example C6. The method of any one of examples C1-5, wherein selecting waveform bandwidths to use for imaging the target object is performed using data indicative of a level of traffic associated with the vehicle's environment.

Example C7. The method of any one of examples C1-6, wherein selecting waveform bandwidths to use for imaging the target object is performed using data indicative of a type of road associated with the vehicle's environment.

Example C8. The method of any one of examples C1-7, wherein selecting waveform bandwidths comprises selecting at least one of a first waveform bandwidth that is between 1 GHz and 5 GHz and a second waveform bandwidth that is between 6 GHZ and 20 GHz.

Example C9. The method of any one of examples C1-7, wherein selecting waveform bandwidths comprises selecting at least one among a first waveform bandwidth that is between 1 GHz and 5 GHz, a second waveform bandwidth that is between 6 GHz and 12 GHz and a third waveform bandwidth that is between 13 GHz and 25 GHz.

Example C10. The method of any one of examples C1-9, wherein the one or more RF signals have frequency content in a frequency band of 300 GHz-3 THz.

Example C11. A radar device configured to collect data about a target object least in part by transmitting of a plurality of waveform types having a corresponding plurality of frequency bandwidths, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle; generate one or more range-cross range images of the target object at least in part by: selecting waveform bandwidths to use for imaging the target object based on the obtained situational awareness data for the vehicle; and imaging the target object using one or more RF signals corresponding to the selected waveform bandwidths.

Example C12. The radar device of example C11, wherein the processing circuitry is configured to select waveform bandwidths based on data indicative of a velocity of the vehicle.

Example C13. The radar device of any one of examples C11-12, wherein the processing circuitry is configured to select waveform bandwidths based on data indicative of a velocity of the target object relative to a velocity of the vehicle.

Example C14. The radar device of any one of examples C11-13, wherein the processing circuitry is configured to select waveform bandwidths to use for imaging the target object using data indicative of whether a cruise control for the vehicle is activated.

Example C15. The radar device of any one of examples C11-14, wherein the processing circuitry is configured to select waveform bandwidths to use for imaging the target object using data indicative of at least one weather condition associated with the vehicle's environment.

Example C16. The radar device of any one of examples C11-15, wherein the processing circuitry is configured to select waveform bandwidths to use for imaging the target object using data indicative of a level of traffic associated with the vehicle's environment.

Example C17. The radar device of any one of examples C11-16, wherein the processing circuitry is configured to select waveform bandwidths to use for imaging the target object using data indicative of a type of road associated with an environment of the vehicle.

Example C18. The radar device of any one of examples C11-17, wherein the processing circuitry is configured to select at least one of a first waveform bandwidth that is between 1 GHz and 5 GHz and a second waveform bandwidth that is between 6 GHz and 20 GHz.

Example C19. The radar device of any one of examples C11-17, wherein the processing circuitry is configured to select at least one among a first waveform bandwidth that is between 1 GHz and 5 GHz, a second waveform bandwidth that is between 6 GHz and 12 GHz and a third waveform bandwidth that is between 13 GHz and 25 GHZ.

Example C20. The radar device of any one of examples C11-19, wherein the one or more RF signals have frequency content in a frequency band of 300 GHZ-3 THz.

Example D1. A method of using a radar device to collect data about a target object, the radar device being configurable among a plurality of transmitter configurations, the method comprising: obtaining, using processing circuitry of the radar device, situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; selecting, using the processing circuitry, using the situational awareness data for the vehicle and from among a plurality of transmitter configurations, at least one transmitter configuration to use for collecting the data about the target object; transmitting, using a transmitter of the radar device according to the at least one transmitter configuration, one or more RF transmit signals; and receiving, using a receiver of the radar device, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example D2. The method of example D1, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; the plurality of transmitter configurations specify a plurality of different subsets of the plurality of transmit antenna elements, the at least one transmitter configuration specifying at least one subset of the plurality of different subsets; and transmitting the one or more RF transmit signals according to the at least one transmitter configuration comprises transmitting the one or more RF transmit signals using the at least one subset.

Example D3. The method of example D2, wherein: the at least one subset comprises a first subset of the plurality of transmit antenna elements and a second subset of the plurality of transmit antenna elements that is different from the first subset; transmitting the one or more RF transmit signals using the at least one subset comprises: transmitting, at a first time, a first RF transmit signal of the one or more RF transmit signals using the first subset; and transmitting, at a second time after the first time, a second RF transmit signal of the one or more RF transmit signals using the second subset; and the method further comprises generating a range-cross range image using the one or more RF receive signals, the one or more RF receive signals generated at least in part by reflection of the first RF transmit signal and/or of the second RF transmit signal from the target object.

Example D4. The method of example D3, wherein: the transmitter uses a first amount of transmit power transmitting the first RF transmit signal using the first subset; and the transmitter uses a second amount of transmit power that is different from the first amount of transmit power transmitting the second RF transmit signal using the second subset.

Example D5. The method of example D1, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; the plurality of transmitter configurations specify a plurality of different phase shift patterns for transmitting the one or more RF transmit signals via the plurality of transmit antenna elements, the at least one transmitter configuration specifying at least one phase shift pattern of the plurality of different phase shift patterns; and transmitting the one or more RF transmit signals according to the at least one transmitter configuration comprises transmitting the one or more RF transmit signals according to the at least one phase shift pattern.

Example D6. The method of example D5, wherein: the at least one phase shift pattern comprises a first phase shift pattern and a second phase shift pattern that is different from the first phase shift pattern; transmitting the one or more RF transmit signals according to the at least one phase shift pattern comprises: transmitting, at a first time, a first RF transmit signal of the one or more RF transmit signals according to the first phase shift pattern; and transmitting, at a second time after the first time, a second RF transmit signal of the one or more RF transmit signals according to the second phase shift pattern; and the method further comprises generating a range-cross range image using the one or more RF receive signals, the one or more RF receive signals generated at least in part by reflection of the first RF transmit signal and/or of the second RF transmit signal from the target object.

Example D7. The method of example D6, wherein: the at least one phase shift pattern is configured to perform an angular transmit sweep over an angular field of view including a first angular direction and a second angular direction different from the first angular direction; according to the first phase shift pattern, the transmitter focuses transmission of the first RF transmit signal in the first angular direction; and according to the second phase shift pattern, the transmitter focuses transmission of the second RF transmit signal in the second angular direction.

Example D8. The method of example D1, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; the plurality of transmitter configurations specifics a plurality of different transmit power levels for transmitting the one or more RF transmit signals via the plurality of transmit antenna elements, the at least one transmitter configuration specifying at least one transmit power level of the plurality of different transmit power levels; and transmitting the one or more RF transmit signals according to the at least one transmitter configuration comprises transmitting the one or more RF transmit signals according to the at least one transmit power level.

Example D9. The method of example D8, wherein the at least one transmit power level comprises a first transmit power level and a second transmit power level that is different from the first transmit power level; transmitting the one or more RF transmit signals according to the at least one transmit power level comprises: transmitting, at a first time, a first RF transmit signal of the one or more RF transmit signals according to the first transmit power level; and transmitting, at a second time, a second RF transmit signal of the one or more RF transmit signals according to the second transmit power level; and the method further comprises generating a range-cross range image using the one or more RF receive signals, the one or more RF receive signals generated at least in part by reflection of the first RF transmit signal and/or the second RF transmit signal from the target object.

Example D10. The method of any one of examples D1 to D9, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GH2-3 THz.

Example D11. A radar device for collecting data about a target object, the radar device being configurable among a plurality of transmitter configurations, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, and select, using the situational awareness data for the vehicle and from among the plurality of transmitter configurations, at least one transmitter configuration to use for collecting the data about the target object; a transmitter configured to transmit one or more RF transmit signals according to the at least one transmitter configuration; and a receiver configured to receive one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Examples D12. The radar device of example D11, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; the plurality of transmitter configurations specify a plurality of different subsets of the plurality of transmit antenna elements, the at least one transmitter configuration specifying at least one subset of the plurality of different subsets; and the transmitter is configured to transmit the one or more RF transmit signals using the at least one subset.

Example D13. The radar device of example D12, wherein: the at least one subset comprises a first subset of the plurality of transmit antenna elements and a second subset of the plurality of transmit antenna elements that is different from the first subset; the transmitter is configured to: transmit, at a first time, a first RF transmit signal of the one or more RF transmit signals using the first subset; and transmit, at a second time after the first time, a second RF transmit signal of the one or more RF transmit signals using the second subset; and the processing circuitry is further configured to generate a range-cross range image using the one or more RF receive signals, the one or more RF receive signals generated at least in part by reflection of the first RF transmit signal and/or of the second RF transmit signal from the target object.

Example D14. The radar device of example D13, wherein the transmitter is configured to: transmit the first RF transmit signal using the first subset using a first amount of transmit power; and transmit the second RF transmit signal using the second subset using a second amount of transmit power that is different from the first amount of transmit power.

Example D15. The radar device of example D11, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; the plurality of transmitter configurations specify a plurality of different phase shift patterns for transmitting the one or more RF transmit signals via the plurality of transmit antenna elements, the at least one transmitter configuration specifying at least one phase shift pattern of the plurality of different phase shift patterns; and the transmitter is configured to transmit the one or more RF transmit signals according to the at least one phase shift pattern.

Example D16. The radar device of example D15, wherein: the at least one phase shift pattern comprises a first phase shift pattern and a second phase shift pattern that is different from the first phase shift pattern; the transmitter is configured to: transmit, at a first time, a first RF transmit signal of the one or more RF transmit signals according to the first phase shift pattern; and transmit, at a second time after the first time, a second RF transmit signal of the one or more RF transmit signals according to the second phase shift pattern; and the processing circuitry is further configured to generate a range-cross range image using the one or more RF receive signals, the one or more RF receive signals generated at least in part by reflection of the first RF transmit signal and/or of the second RF transmit signal from the target object.

Example D17. The radar device of example D16, wherein: the at least one phase shift pattern is configured to perform an angular transmit sweep over an angular field of view including a first angular direction and a second angular direction different from the first angular direction; according to the first phase shift pattern, the transmitter is configured to focus transmission of the first RF transmit signal in the first angular direction; and according to the second phase shift pattern, the transmitter is configured to focus transmission of the second RF transmit signal in the second angular direction.

Example D18. The radar device of example D11, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; the plurality of transmitter configurations specifies a plurality of different transmit power levels for transmitting the one or more RF transmit signals via the plurality of transmit antenna elements, the at least one transmitter configuration specifying at least one transmit power level of the plurality of different transmit power levels; and the transmitter is configured to transmit the one or more RF transmit signals according to the at least one transmit power level.

Example D19. The radar device of example D18, wherein: the at least one transmit power level comprises a first transmit power level and a second transmit power level that is different from the first transmit power level; the transmitter is configured to: transmit, at a first time, a first RF transmit signal of the one or more RF transmit signals according to the first transmit power level; and transmit, at a second time, a second RF transmit signal of the one or more RF transmit signals according to the second transmit power level; and the processing circuitry is further configured to generate a range-cross range image using the one or more RF receive signals, the one or more RF receive signals generated at least in part by reflection of the first RF transmit signal and/or the second RF transmit signal from the target object.

Example D20. The radar device of any one of examples D11 to D19, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GHZ-3 THz.

Example E1. A method of using a radar device to collect data about a target object, the radar device being configurable among a plurality of receiver configurations, the method comprising: obtaining, using processing circuitry of the radar device, situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment the vehicle; selecting, using the processing circuitry, using the situational awareness data for the vehicle and from among a plurality of receiver configurations, at least one receiver configuration to use for collecting the data about the target object; transmitting, using a transmitter of the radar device, one or more RF transmit signals; and receiving, using a receiver of the radar device in the at least one receiver configuration, one or more RF receive signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example E2. The method of example E1, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; the plurality of receiver configurations specify a plurality of different subsets of the plurality of receive antenna elements, the at least one receiver configuration specifying at least one subset of the plurality of different subsets; and receiving the one or more RF receive signals according to the at least one receiver configuration comprises receiving the one or more RF receive signals using the at least one subset.

Example E3. The method of example E2, wherein: the at least one subset comprises a first subset of the plurality of receive antenna elements and a second subset of the plurality of receive antenna elements that is different from the first subset; receiving the one or more RF receive signals according to the at least one receiver configuration comprises: receiving, at a first time, a first RF receive signal of the one or more RF receive signals using the first subset; and receiving, at a second time after the first time, a second RF receive signal of the one or more RF receive signals using the second subset; and the method further comprises generating, using the processing circuitry, a range-cross range image using the first RF receive signal and the second RF receive signal.

Example E4. The method of example E3, wherein: the receiver uses a first amount of receive power receiving the first RF receive signal using the first subset; and the receiver uses a second amount of receive power that is different from the first amount of receive power receiving the second RF receive signal using the second subset.

Example E5. The method of example E1, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; the plurality of receiver configurations specify a plurality of different phase shift patterns for receiving the one or more RF receive signals via the plurality of receive antenna elements, the at least one receiver configuration specifying at least one phase shift pattern of the plurality of different phase shift patterns; and receiving the one or more RF receive signals according to the at least one receiver configuration comprises receiving the one or more RF receive signals according to the at least one phase shift pattern.

Example E6. The method of example E5, wherein: the at least one phase shift pattern comprises a first phase shift pattern and a second phase shift pattern that is different from the first phase shift pattern; receiving the one or more RF receive signals according to the at least one phase shift pattern comprises: receiving, at a first time, a first RF receive signal of the one or more RF receive signals according to the first phase shift pattern; and receiving, at a second time after the first time, a second RF receive signal of the one or more RF receive signals according to the second phase shift pattern; and the method further comprises generating a range-cross range image using the first RF receive signal and the second RF receive signal.

Example E7. The method of example E6, wherein: the at least one phase shift pattern is configured to perform an angular receive sweep over an angular field of view including a first angular direction and a second angular direction different from the first angular direction; according to the first phase shift pattern, the receiver focuses reception of the first RF receive signal in the first angular direction; and according to the second phase shift pattern, the receiver focuses reception of the second RF receive signal in the second angular direction.

Example E8. The method of example E1, wherein the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; the plurality of receiver configurations specify a plurality of different subsets of the plurality of receive antenna elements and a plurality of different phase shift patterns applied to respective ones of the plurality of different subsets, the at least one receiver configuration specifying at least one subset of the plurality of different subsets and at least one phase shift pattern applied to the at least one subset; and receiving the one or more RF receive signals according to the at least one receiver configuration comprises receiving the one or more RF receive signals using the at least one subset according to the at least one phase shift pattern.

Example E9. The method of any one of examples E2 to E8, wherein the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array that is orthogonal to the dimension of the receive antenna array, and transmitting the one or more RF transmit signals comprises transmitting the one or more RF transmit signals via the plurality of transmit antenna elements.

Example E10. The method of any one of examples E1 to E7, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GHz-3 THz.

Example E11. A radar device for collecting data about a target object, the radar device being configurable among a plurality of receiver configurations, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle, and select, using the situational awareness data for the vehicle and from among the plurality of receiver configurations, at least one receiver configuration to use for collecting the data about the target object; a transmitter configured to transmit one or more RF transmit signals; and a receiver configured to receive one or more RF receive signals, according to the at least one receiver configuration, generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example E12. The radar device of example E11, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; the plurality of receiver configurations specify a plurality of different subsets of the plurality of receive antenna elements, the at least one receiver configuration specifying at least one subset of the plurality of different subsets; and the receiver is configured to receive the one or more RF receive signals using the at least one subset.

Example E13. The radar device of example E12, wherein: the at least one subset comprises a first subset of the plurality of receive antenna elements and a second subset of the plurality of receive antenna elements that is different from the first subset; the receiver is configured to: receive, at a first time, a first RF receive signal of the one or more RF receive signals using the first subset; and receive, at a second time after the first time, a second RF receive signal of the one or more RF receive signals using the second subset; and the processing circuitry is further configured to generate a range-cross range image using the first RF receive signal and the second RF receive signal.

Example E14. The radar device of example E13, wherein: the receiver is configured to use a first amount of receive power receiving the first RF receive signal using the first subset; and the receiver is configured to use a second amount of receive power that is different from the first amount of receive power receiving the second RF receive signal using the second subset.

Example E15. The radar device of example E11, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; the plurality of receiver configurations specify a plurality of different phase shift patterns for receiving the one or more RF receive signals via the plurality of receive antenna elements, the at least one receiver configuration specifying at least one phase shift pattern of the plurality of different phase shift patterns; and the receiver is configured to receive the one or more RF receive signals according to the at least one phase shift pattern.

Example E16. The radar device of example E15, wherein: the at least one phase shift pattern comprises a first phase shift pattern and a second phase shift pattern that is different from the first phase shift pattern; the receiver is configured to: receive, at a first time, a first RF receive signal of the one or more RF receive signals according to the first phase shift pattern; and receive, at a second time after the first time, a second RF receive signal of the one or more RF receive signals according to the second phase shift pattern; and the processing circuitry is further configured to generate a range-cross range image using the first RF receive signal and the second RF receive signal.

Example E17. The radar device of example E16, wherein: the at least one phase shift pattern is configured to perform an angular receive sweep over an angular field of view including a first angular direction and a second angular direction different from the first angular direction; according to the first phase shift pattern, the receiver is configured to focus reception of the first RF receive signal in the first angular direction; and according to the second phase shift pattern, the receiver is configured to focus reception of the second RF receive signal in the second angular direction.

Example E18. The radar device of example E11, wherein the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; the plurality of receiver configurations specify a plurality of different subsets of the plurality of receive antenna elements and a plurality of different phase shift patterns applied to respective ones of the plurality of different subsets, the at least one receiver configuration specifying at least one subset of the plurality of different subsets and at least one phase shift pattern applied to the at least one subset; and the receiver is configured to receive the one or more RF receive signals using the at least one subset according to the at least one phase shift pattern.

Example E19. The radar device of any one of example E12 to E18, wherein the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array that is orthogonal to the dimension of the receive antenna array, and the transmitter is configured to transmit the one or more RF transmit signals via the plurality of transmit antenna elements.

Example E20. The radar device of any one of example E11 to E17, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GHz-3 THz.

Example F1. A method of using a radar device to generate a range-cross range image of a target object, the method comprising: using processing circuitry of the radar device: obtaining situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; selecting a frame rate based on the situational awareness data for the vehicle; generating a plurality of range-cross range images corresponding to a respective plurality of frames defined by the frame rate, the generating comprising: for a particular frame of the plurality of frames, generating a respective range-cross range image using one or more RF signals received by the radar device during the particular frame; and outputting the plurality of range-cross range images.

Example F2. The method of example F1, wherein generating the plurality of range-cross range images comprises, for each frame of the plurality of frames, generating a respective range-cross range image using RF signals received by the radar device during the frame.

Example F3. The method of example F1, wherein generating the respective range-cross range image comprises: transmitting, using a transmitter of the radar device, one or more RF transmit signals; and receiving, during the particular frame, using a receiver of the radar device, the one or more RF signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example F4. The method of example F3, wherein: transmitting the one or more RF transmit signals comprises transmitting a first RF transmit signal of the one or more RF transmit signals and transmitting a second RF transmit signal of the one or more RF transmit signals; and the one or more RF signals are generated at least in part by reflection of the first RF transmit signal and/or the second RF transmit signal from the target object.

Example F5. The method of example F4, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; transmitting the first RF transmit signal uses a first subset of the plurality of transmit antenna elements; and transmitting the second RF transmit signal uses a second subset of the plurality of transmit antenna elements that is different from the first subset of the plurality of transmit antenna elements.

Example F6. The method of example F4, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; and transmitting the first RF transmit signal is via the plurality of transmit antenna elements according to a first transmit phase shift pattern and transmitting the second RF transmit signal is via the plurality of transmit antenna elements according to a second transmit phase shift pattern that is different from the first transmit phase shift pattern.

Example F7. The method of example F4, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; and transmitting the first RF transmit signal is via the plurality of transmit antenna elements according to a first transmit power level and transmitting the second RF transmit signal is via the plurality of transmit antenna elements according to a second transmit power level that is different from the first transmit power level.

Example F8. The method of any one of examples F4 to F7, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; receiving the one or more RF signals comprises: using a first subset of the plurality of receive antenna elements during a first time period within the particular frame; and using a second subset of the plurality of receive antenna elements during a second time period that is after the first time period and within the particular frame, the second subset of the plurality of receive antenna elements being different from the first subset of the plurality of receive antenna elements; and the one or more RF signals are received during the first time period and/or the second time period.

Example F9. The method of any one of example F4 to F7, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; receiving the one or more RF signals comprises: operating the plurality of receive antenna elements according to a first receive phase shift pattern during a first time period within the particular frame; and operating the plurality of receive antenna elements according to a second receive phase shift pattern during a second time period that is after the first time period and within the particular frame, the second receive phase shift pattern being different from the first receive phase shift pattern; and the one or more RF signals are received during the first time period and/or the second time period.

Example F10. The method of any one of examples F3 to F9, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GHz-3 THz.

Example F11. A radar device for generating a range-cross range image of a target object, the radar device comprising: processing circuitry configured to: obtain situational awareness data for a vehicle, the situational awareness data being indicative of at least one characteristic of the vehicle, at least one characteristic of the target object, and/or at least one characteristic of an environment of the vehicle; select a frame rate based on the situational awareness data for the vehicle; generate a plurality of range-cross range images corresponding to a respective plurality of frames defined by the frame rate at least in part by: for a particular frame of the plurality of frames, generating a respective range-cross range image using one or more RF signals received by the radar device during the particular frame; and output the plurality of range-cross range images.

Example F12. The radar device of example F11, wherein the processing circuitry is configured to generate the plurality of range-cross range images at least in part by, for each frame of the plurality of frames, generating a respective range-cross range image using RF signals received by the radar device during the frame.

Example F13. The radar device of example F11, further comprising: a transmitter configured to transmit one or more RF transmit signals; and a receiver configured to receive, during the particular frame, the one or more RF signals generated at least in part by reflection of the one or more RF transmit signals from the target object.

Example F14. The radar device of example F13, wherein: the transmitter is configured to transmit a first RF transmit signal of the one or more RF transmit signals and transmit a second RF transmit signal of the one or more RF transmit signals; and the one or more RF signals are generated at least in part by reflection of the first RF transmit signal and/or the second RF transmit signal from the target object.

Example F15. The radar device of example F14, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; and the transmitter is configured to transmit the first RF transmit signal using a first subset of the plurality of transmit antenna elements and transmit the second RF transmit signal using a second subset of the plurality of transmit antenna elements that is different from the first subset of the plurality of transmit antenna elements.

Example F16. The radar device of example F14, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; and the transmitter is configured to transmit the first RF transmit signal via the plurality of transmit antenna elements according to a first transmit phase shift pattern and transmit the second RF transmit signal via the plurality of transmit antenna elements according to a second transmit phase shift pattern that is different from the first transmit phase shift pattern.

Example F17. The radar device of example F14, wherein: the transmitter comprises a transmit antenna array comprising a plurality of transmit antenna elements arranged along a dimension of the transmit antenna array; and the transmitter is configured to transmit the first RF transmit signal via the plurality of transmit antenna elements according to a first transmit power level and transmit the second RF transmit signal via the plurality of transmit antenna elements according to a second transmit power level that is different from the first transmit power level.

Example F18. The radar device of any one of examples F14 to F17, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a dimension of the receive antenna array; and the receiver is configured to: use a first subset of the plurality of receive antenna elements during a first time period within the particular frame; use a second subset of the plurality of receive antenna elements that is different from the first subset of the plurality of receive antenna elements during a second time period that is after the first time period and within the particular frame; and receive the one or more RF signals during the first time period and/or the second time period.

Example F19. The radar device of example F14 to F17, wherein: the receiver comprises a receive antenna array comprising a plurality of receive antenna elements arranged along a first dimension of the receive antenna array; and the receiver is configured to: operate according to a first receive phase shift pattern during a first time period within the particular frame; operate according to a second receive phase shift pattern that is different from the first receive phase shift pattern during a second time period that is after the first time period and within the particular frame; and receive the one or more RF signals during the first time period and/or the second time period.

Example F20. The radar device of any one of examples F13 to F19, wherein the one or more RF transmit signals have frequency content in a frequency band of 300 GHZ-3 THz.

Having thus described several aspects and embodiments of the technology set forth in the disclosure, it is to be appreciated that various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be within the spirit and scope of the technology described herein. For example, those of ordinary skill in the art will readily envision a variety of other means and/or structures for performing the function and/or obtaining the results and/or one or more of the advantages described herein, and each of such variations and/or modifications is deemed to be within the scope of the embodiments described herein. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments described herein. It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, inventive embodiments may be practiced otherwise than as specifically described. In addition, any combination of two or more features, systems, articles, materials, kits, and/or methods described herein, if such features, systems, articles, materials, kits, and/or methods are not mutually inconsistent, is included within the scope of the present disclosure.

The above-described embodiments can be implemented in any of numerous ways. One or more aspects and embodiments of the present disclosure involving the performance of processes or methods may utilize program instructions executable by a device (e.g., a computer, a processor, or other device) to perform, or control performance of, the processes or methods. In this respect, various inventive concepts may be embodied as a computer readable storage medium (or multiple computer readable storage media) (e.g., a computer memory, one or more floppy discs, compact discs, optical discs, magnetic tapes, flash memories, circuit configurations in Field Programmable Gate Arrays or other semiconductor devices, or other tangible computer storage medium) encoded with one or more programs that, when executed on one or more computers or other processors, perform methods that implement one or more of the various embodiments described above. The computer readable medium or media can be transportable, such that the program or programs stored thereon can be loaded onto one or more different computers or other processors to implement various ones of the aspects described above. In some embodiments, computer readable media may be non-transitory media.

When implemented in software, the software code can be executed on any suitable processor or collection of processors, whether provided in a single computer or distributed among multiple computers.