Systems and methods for a radar system using sectional three-dimensional beamforming

System, methods, and other embodiments described herein relate to scanning a surrounding environment of a vehicle by radar during automated driving. In one embodiment, a method includes detecting an object by using a three-dimensional beam formed by a layered array of end-fire antennas. The method also includes scanning the object by using a fine three-dimensional beam formed by a section of the layered array of end-fire antennas. The method also includes tracking the object by using the fine three-dimensional beam.

TECHNICAL FIELD

The subject matter described herein relates, in general, to a radar system, and, more particularly, to a radar system that scans a surrounding environment of a vehicle using sectional three-dimensional beamforming.

BACKGROUND

Vehicles may be equipped with sensors that facilitate perceiving other vehicles, obstacles, pedestrians, and additional aspects of a surrounding environment. For example, a radar sensor of a vehicle may scan the surrounding environment. Logic associated with the radar may analyze acquired data to detect the presence of objects and other features of the surrounding environment. In further examples, additional/alternative sensors such as cameras may be implemented to acquire information about the surrounding environment from which a system derives awareness about aspects of the surrounding environment. This sensor data can be useful in various circumstances for improving perceptions of the surrounding environment so that systems such as automated driving systems can perceive the noted aspects and accurately plan and navigate accordingly.

In general, the further that a vehicle develops awareness about a surrounding environment, the better a driver can be supplemented with information to assist in driving and/or the better an automated system can control the vehicle to avoid hazards. In one approach, a radar system may scan an environment to provide information for safety, motion planning, steering, navigation, or the like for automated driving. For example, the radar system may use a beam for a lateral two-dimensional scan of the surrounding environment for hazards or objects. Logic associated with the radar system may analyze acquired data to detect the presence of objects and other features of the surrounding environment. A two-dimensional scan may sometimes overlook objects or generate false positives due to hills, rough terrain, anomalous driving environments, urban environment, or the like.

Accordingly, a radar system using three-dimensional scanning may detect objects more accurately than two-dimensional scanning during automated driving. However, radar systems using three-dimensional scanning during automated maneuvers may be incapable of adapting beams to detect complex objects in a surrounding environment. In addition, radar systems using three-dimensional scanning hardware may not fit the criteria for integration within a vehicle.

SUMMARY

In one embodiment, example systems and methods relate to a vehicle radar system that scans a surrounding environment for objects during automated driving using sectional three-dimensional scanning and beamforming. Vehicle radar sensors may be ineffective at detecting certain objects depending upon a driving maneuver or a driving environment. In various implementations, current two-dimensional radar systems may be ineffective at detecting complex objects particularly due to hilly roads, curvy roads, anomalous driving environments, urban environments, or the like. Therefore, in one embodiment, a vehicle radar system may scan using multiple sectional three-dimensional beams to gather data about the surrounding environment and field-of-view for object detection. In one approach, the radar system may scan using a layered array of end-fire antennas that adapt beam resolution and the field-of-view during automated driving. Each layer may also include a receiver and transmitter to facilitate adaptive and independent scanning of objects using various three-dimensional beams. Furthermore, the radar system may scan the driving environment using sectional adaptive beamforming by independently controlling each sub-beam from a section of the layered array of end-fire antennas. In one approach, the radar system may precisely track complex objects with the sectional adaptive beamforming by using fine three-dimensional beams and at least one end-fire antenna. Thus, the radar system improves detection and tracking of complex objects by scanning an environment using multiple three-dimensional beams formed by the layered array of end-fire antennas and independently controlled sections.

In one embodiment, a radar system for scanning a surrounding environment of a vehicle during automated driving is disclosed. The radar system includes one or more processors and a memory communicably coupled to the one or more processors. The memory stores a scanning module including instructions that when executed by the one or more processors cause the one or more processors to detect an object by using a three-dimensional beam formed by a layered array of end-fire antennas. The scanning module further includes instructions to scan the object by using a fine three-dimensional beam formed by a section of the layered array of end-fire antennas. The memory stores a tracking module including instructions that when executed by the one or more processors cause the one or more processors to track the object by using the fine three-dimensional beam.

In one embodiment, a non-transitory computer-readable medium for scanning a vehicle's surrounding environment by radar during automated driving and including instructions that when executed by one or more processors cause the one or more processors to perform one or more functions is disclosed. The instructions include instructions to detect an object by using a three-dimensional beam formed by a layered array of end-fire antennas. The instructions also include instructions to scan the object by using a fine three-dimensional beam formed by a section of the layered array of end-fire antennas. The instructions also include instructions to track the object by using the fine three-dimensional beam.

In one embodiment, a method for scanning a surrounding environment of a vehicle by radar during automated driving is disclosed. In one embodiment, the method includes detecting an object by using a three-dimensional beam formed by a layered array of end-fire antennas. The method also includes scanning the object by using a fine three-dimensional beam formed by a section of the layered array of end-fire antennas. The method also includes tracking the object by using the fine three-dimensional beam.

DETAILED DESCRIPTION

Systems, methods, and other embodiments associated with a radar system that scans a surrounding environment using sectional three-dimensional beamforming are disclosed herein. In one embodiment, the radar system may use a layered antenna array to adaptively detect, scan, and track an object by independent three-dimensional beamforming. The radar system may generate a three-dimensional beam to use for substantially simultaneous vertical and horizontal scanning of the object. The radar system may also generate multiple independent three-dimensional beams by using different layers that each include a transmitter and receivers for independent scanning. In one approach, the radar system may synchronize the layers for scanning cooperation using a distributed local oscillator and end-fire antennas to reduce the system frontal surface area according to vehicle size guidelines. Furthermore, the radar system may generate various beams by independently controlling the layers to adjust scanning resolution and field-of-view that improve the detection of complex objects. In this way, the radar system uses three-dimensional scanning and independent control of a layered antenna array to improve detection, scanning, and tracking of objects during automated driving through different driving environments for increased reliability and safety.

Moreover, the radar system may detect, scan, and track complex objects by adjusting beam resolutions and the field-of-view to various terrains. For example, the radar system may use higher layers of a layered antenna array to improve object detection on an incline of a hilly road. The radar system may use lower layers of the layered antenna array to improve object detection on a decline of a hilly road. In another example, the radar system may also use finer resolution scanning for longer range scanning according to elevation changes. Concerning curvy roads with short road segments, the radar system may use a wide-beam to improve detection of the short road segments. Thus, the radar system may adapt scanning by selectively using layers of the antenna array at various resolutions, thereby improving safety and control during automated driving.

Referring toFIG. 1, an example of a vehicle100is illustrated. As used herein, a “vehicle” is any form of motorized transport. In one or more implementations, the vehicle100is an automobile. While arrangements will be described herein with respect to automobiles, it will be understood that embodiments are not limited to automobiles. In some implementations, the vehicle100may be any robotic device or form of motorized transport that, for example, includes sensors to perceive aspects of the surrounding environment, and thus benefits from the functionality discussed herein associated with a radar system that detects, scans, and tracks an object in a surrounding environment using sectional three-dimensional beamforming.

The vehicle100also includes various elements. It will be understood that in various embodiments it may not be necessary for the vehicle100to have all of the elements shown inFIG. 1. The vehicle100can have any combination of the various elements shown inFIG. 1. Further, the vehicle100can have additional elements to those shown inFIG. 1. In some arrangements, the vehicle100may be implemented without one or more of the elements shown inFIG. 1. While the various elements are shown as being located within the vehicle100inFIG. 1, it will be understood that one or more of these elements can be located external to the vehicle100. Further, the elements shown may be physically separated by large distances.

Some of the possible elements of the vehicle100are shown inFIG. 1and will be described along with subsequent figures. However, a description of many of the elements inFIG. 1will be provided after the discussion ofFIGS. 2-10for purposes of brevity of this description. Additionally, it will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, the discussion outlines numerous specific details to provide a thorough understanding of the embodiments described herein. Those of skill in the art, however, will understand that the embodiments described herein may be practiced using various combinations of these elements. In either case, the vehicle100includes a radar system170that is implemented to perform methods and other functions as disclosed herein relating to improving detecting, scanning, and tracking an object in a surrounding environment using sectional three-dimensional beamforming.

FIG. 2illustrates one embodiment of the radar system170that is associated with adaptively detecting, scanning, and tracking an object in a surrounding environment during automated driving. The radar system170is shown as including a processor110from the vehicle100ofFIG. 1. Accordingly, the processor110may be a part of the radar system170, the radar system170may include a separate processor from the processor110of the vehicle100, or the radar system170may access the processor110through a data bus or another communication path. In one embodiment, the radar system170includes a memory210that stores a scanning module220and a tracking module230. The memory210is a random-access memory (RAM), read-only memory (ROM), a hard-disk drive, a flash memory, or other suitable memory for storing the modules220and230. The modules220and230are, for example, computer-readable instructions that when executed by the processor110cause the processor110to perform the various functions disclosed herein.

The radar system170, as illustrated inFIG. 1, is generally an abstracted form of the radar system170that includes the scanning module220and the tracking module230. The scanning module220may generally include instructions that function to control the processor110to receive data inputs from one or more sensors of the vehicle100. The inputs are, in one embodiment, observations of one or more objects in an environment proximate to the vehicle100and/or other aspects about the surroundings.

In the forthcoming examples, the radar system170operation or configurations are given within the context of a vehicle. In particular, the radar system170adaptively detecting, scanning, or tracking complex objects may improve the safety and reliability of automated driving. However, the radar system170adaptively detecting, scanning, or tracking complex objects may apply to any conveyance, transportation system, mobile device, or the like. For example, the radar system170may be used by an unmanned aerial vehicle (UAV) to detect objects proximate to a runway for an automated landing. Furthermore, the radar system170may also be arranged, or the like for guidance, motion planning, or the like.

In one approach, the scanning module220and the tracking module230may increase the resolution and precision for tracking the object by using multiple fine three-dimensional beams. The radar system170may generate a three-dimensional beam to use for substantially simultaneous vertical and horizontal scanning to improve detection of irregularly shaped objects. The radar system170increasing the fineness of a three-dimensional or other beam may include focusing a beam by reducing either the vertical or the horizontal beam-width. In one approach, the radar system170may increase the resolution of multiple beams using a distributed local oscillator and radio frequency front-end to independently control each layer. In this way, the radar system170may adaptively use multiple adaptive beams from independent sub-radar systems to improve object detection for automated driving particularly during inclement weather, travel on dangerous roads, poor visibility, or the like.

Moreover, the scanning module220, in one embodiment, may control the respective sensors to provide the data inputs in the form of the sensor data250. Additionally, while the scanning module220is discussed as controlling the various sensors to provide the sensor data250, in one or more embodiments, the scanning module220can employ other techniques to acquire the sensor data250that are either active or passive. For example, the scanning module220may passively sniff the sensor data250from a stream of electronic information provided by the various sensors to further components within the vehicle100. Moreover, the scanning module220can undertake various approaches to fuse data from multiple sensors when providing the sensor data250and/or from sensor data acquired over a wireless communication link. Thus, the sensor data250, in one embodiment, may represent a combination of perceptions acquired from multiple sensors.

In addition to locations of surrounding objects, the sensor data250may also include, for example, information about lane markings, and so on. Moreover, the scanning module220, in one embodiment, may control the sensors to acquire the sensor data250about an area that encompasses 360 degrees of the vehicle100in order to provide a comprehensive assessment of the surrounding environment. Of course, in alternative embodiments, the scanning module220may acquire the sensor data about a forward direction alone when, for example, the vehicle100is not equipped with further sensors to include additional regions about the vehicle and/or the additional regions are not scanned due to other reasons.

Moreover, in one embodiment, the radar system170includes a data store240. In one embodiment, the data store240is a database. The database is, in one embodiment, an electronic data structure stored in the memory210or another data store and that is configured with routines that can be executed by the processor110for analyzing stored data, providing stored data, organizing stored data, and so on. Thus, in one embodiment, the data store240stores data used by the modules220and230in executing various functions. In one embodiment, the data store240includes the sensor data250along with, for example, metadata that characterize various aspects of the sensor data250. For example, the metadata can include location coordinates (e.g., longitude and latitude), relative map coordinates or tile identifiers, time/date stamps from when the separate sensor data250was generated, and so on.

In one embodiment, the data store240may further include the scan parameters260, the sync parameters270, and the threshold280. In one approach, the radar system170and the scanning module220may detect an object by using the scan parameters260or the sync parameters270to adaptively generate a three-dimensional beam, a fine three-dimensional beam, a three-dimensional sub-beam, a fine three-dimensional sub-beam, or the like. For example, the scanning module220may adapt scanning according to a beam direction, a beam shape, a velocity of the vehicle100, a relative angle to the vehicle100, a distance, a ground height, or the like specified by the scan parameters260. The scan parameters260may also be associated with the type of the surrounding environment of the vehicle100. In this way, object detection is improved by the scanning module220adapting according to the scan parameters260.

Moreover, the radar system170may use the sync parameters270to independently control each stack or layer of the layered antenna array to generate sub-beams for the vehicle100. The radar system170may increase detection resolution for more accurate, precise, or focused beams using synchronization among more than one layer. In one approach, the sync parameters270may specify time-slot sizes, backoff periods, time-slot periods, phase values, offsets, or the like for scheduling or generating beams. In one approach, the radar system170may schedule beams for adaptively detecting, scanning, or tracking of objects according to the sync parameters270. In this way, the radar system170may independently control each layer or a stack as explained in more detail below.

Furthermore, the scanning module220or the tracking module230may use the threshold280for object detection. The threshold280may include parameters such a width tolerance, a height tolerance, perimeter margins, or the like for an object. In one approach, the scanning module220or the tracking module230may use one or more of these parameters to analyze or determine the shape or boundary of a complex object.

In one embodiment, the scanning module220is further configured to perform additional tasks beyond controlling the respective sensors to acquire and provide the sensor data250. For example, the scanning module220may include instructions that cause the processor110to detect a complex object in a field-of-view using a three-dimensional beam formed by a layered array of end-fire antennas. Although the examples herein may use end-fire antennas, the radar system170may use any antenna type or array to detect, scan, and track an object in a surrounding environment using sectional three-dimensional beamforming. Furthermore, although the examples herein may illustrate a certain number of layers or antenna elements, the radar system170may use any number of layers or antenna elements to adaptively detect, scan, and track an object.

The scanning module220may analyze sensor data250to detect a complex object according to the scan parameters260and the sync parameters270. For example, the scanning module220may detect the complex object on a hilly road by using an elevated focused three-dimensional beam. Once detected, the scanning module220may use a fine three-dimensional beam generated by the layered array of end-fire antennas. As further explained herein, the radar system170may be arranged as a layered antenna array by combining multiple radars to achieve a desirable volume and minimal frontal surface area for the vehicle100. The tracking module230may track the complex object using the fine three-dimensional beam. In this way, the radar system170adapts beams for detecting, scanning, and tracking complex objects, thereby improving the safety and reliability of automated driving.

Furthermore, the tracking module230includes instructions that cause the processor110to track a complex object during automated driving using the fine three-dimensional beam. The tracking module230may track the complex object according to the sync parameters270. For example, the tracking module230may track the complex object with multiple fine three-dimensional beams for the next X time-slots at the vehicle speed of Y. In one approach, the tracking module230may use a distributed local oscillator to control the multiple fine three-dimensional beams generated from one or more layers of the layered antenna array. In this way, the tracking module230adapts tracking complex objects according to the speed of vehicle100, thereby improving the performance and safety of automated driving.

Turning toFIG. 3, an embodiment is illustrated of a layered array of end-fire antennas. In the radar component300, each layer may include a transmitter and receivers to facilitate independent operation and scanning. In one approach, the radar system170may be integrated into or combined with the radar component300. As an example, the radar component300may include a layered antenna array310of N stacks or layers.

For the radar component300, in one approach, each stack or layer320may use a distributed local oscillator330that communicates with the radar control component340to control a plurality of end-fire antenna receivers360. The plurality of end-fire antenna receivers360may scan objects using three-dimensional beams to improve object detection speed and resolution. In the radar component300, each stack or layer may also include an end-fire transmitter antenna350so that each stack operates substantially independently or equally for transmit and receive mode during scanning. In one approach, the radar component300may detect and track a complex object by using three-dimensional mono-pulse beams generated by end-fire antennas. The radar component300may be able to detect certain objects faster using the directionality and power profiles of mono-pulse beams.

Additional aspects of a radar system adaptively detecting, scanning, and tracking an object will be discussed in relation toFIG. 4. that illustrates one embodiment of a method that is associated with adaptively detecting, scanning, and tracking an object in a surrounding environment during automated driving. The method400will be discussed from the perspective of the radar system170ofFIGS. 1 and 2. While the method400is discussed in combination with the radar system170, it should be appreciated that the method400is not limited to being implemented within the radar system170but is instead one example of a system that may implement the method400.

As a brief introduction to the method400, prior to the discussion of the explicitly identified functions, the radar system170may adaptively detect, scan, and track an object to improve automated driving. For example, the scanning module220may detect the object during inclement weather using a horizontal three-dimensional beam generated by end-fire antennas in a section of a layered antenna array. The radar system170may use the layered antenna array for scalability of sectional beamforming and scanning of multiple objects. In particular, the layered antenna array using mono-pulse horizontal and vertical scanning may improve independent tracking of objects by generating numerous adaptive beams to distinguish multiple objects in different driving environments. Although the examples herein may use mono-pulse or end-fire antennas, the radar system170may use various antenna types or arrays to detect, scan, and track an object in a surrounding environment using sectional three-dimensional beamforming.

Furthermore, in one approach, the radar system170may use at least one end-fire antenna of each layer for sectional scanning objects. End-fire antennas may be particularly useful for objects in the direct line-of-sight of the vehicle100. For example, the radar system170may detect a complex object in the direct line-of-sight during foggy conditions using multiple fine, three-dimensional beams. In addition, the radar system170using end-fire antennas in a layered array may desirably reduce volume, package sizes, and reduce frontal surface area of the system. In one approach, in any of the examples given herein, the radar system170may use sensor system120, GPS information, or the like to adapt beams according to the terrain. In this way, the radar system170may adapt detection, scanning, and tracking of objects using independent three-dimensional beams according to the driving environment of the vehicle100, thereby improving the reliability of automated driving.

Referring again to radar adaptively detecting, scanning, and tracking an object within a vehicle inFIG. 4, at410the radar system170and scanning module220may detect an object using one or more three-dimensional beams. In one approach, the radar system170may perform dynamic coarse, rough, or fast scanning of an environment for object detection by using three-dimensional beams. The radar system170may generate the three-dimensional beams using a layered antenna array for flexible and adaptive beamforming. In one approach, the radar system may generate a three-dimensional beam to use for substantially simultaneous vertical and horizontal scanning of the object to improve detection of irregularly shaped objects. Furthermore, the radar system170may indicate an object as detected according to the satisfaction of one or more parameters of the threshold280. The radar system170as such may generate a three-dimensional beamforming plan and schedule to quickly detect the object. In one approach, the automated driving module(s)160may use the quick or coarse detection to adapt a motion plan, driving maneuver, speed, or the like during hazardous conditions.

At420, the radar system170may schedule beams in the layered antenna array to sectionally scan the object using fine beam(s). In one approach, the radar system170may perform sectional scanning as explained in detail inFIG. 6to achieve flexible three-dimensional beamforming among and between different layers or stacks. For example, each layer or stack of the layered antenna array may be configured for a phased-array sectional scanning in a lateral or vertical direction for three-dimensional beams. The radar system170may use a local oscillator input shared or synchronized with each stack to independently control beams of the multiple layers to scan a field-of-view. For example, the shared local oscillator may facilitate and coordinate scanning different three-dimensional beams using a time-slot based scheduling. In this way, the radar system170may use diverse beams in a coordinated and synchronized manner to precisely track an object, thereby improving automated driving.

At430, the radar system170and the tracking module230may track the object using the fine beam(s). In one approach, the tracking module230may track the object according to the sync parameters270. The sync parameters270may specify time-slot sizes, backoff periods, time-slot periods, phases, offsets, or the like for forming or scheduling beams. The tracking module230may also use a distributed local oscillator to control and schedule the multiple fine three-dimensional beams generated from one or more layers of the layered antenna array. For example, the tracking module230may adaptively use a lateral three-dimensional beam on stack1for time-slot1to follow the horizontal presence of an object, such as a tree. The tracking module230may use a vertical three-dimensional beam on stack2for time-slot2to follow the vertical presence of the tree. In this example, the radar system170can independently identify the shape of a tree with more flexibility to improve overall system performance.

At440, the radar system170and the tracking module230may determine if the object is still present according to the satisfaction of criteria or a threshold. The radar system170may stop tracking according to the distance to the object, decreased boundary resolution of the object, or the like. In one approach, the radar system170may also stop tracking according to one or more parameters specified in the threshold280. As described above, the threshold280may include parameters such a width tolerance, a height tolerance, perimeter margins, or the like for an object. In this way, the radar system170may improve scanning by focusing resources and scheduling to objects in the field-of-view.

Turning now toFIG. 5, the diagram illustrates a vehicle driving environment with a vehicle that adaptively detects, scans, and tracks an object500using a layered array of end-fire antennas. InFIG. 5, the radar system170may be integrated into vehicle100to adapt beams for detection, scanning, and tracking of objects during automated driving according to location, driving complexity, driving conditions, states, or the like on an expressway. The driving environment510may include the vehicle100traveling on the expressway520.

In one approach, the radar system170may detect the vehicle530using coarse or fast scanning by a single focused three-dimensional beam generated by one or more end-fire antennas. The radar system170may subsequently generate two independent and narrow lateral beams from different stacks of the layered antenna array for fine scanning and tracking of the vehicle530. The radar system170using two independent and narrow lateral beam from different stacks may improve fine tracking of the vehicle530at higher speeds on the expressway520. For example, the radar system170may determine the boundaries of the vehicle530by the fine tracking within the threshold category for the vehicle530. In this way, vehicle100may quickly detect and finely track the vehicle530, thereby improving safety of automated driving during high speeds on an expressway.

FIG. 6illustrates one embodiment of using a phased sub-array to generate fine beams with a distributed local oscillator to independently control sectional sub-arrays. The radar component600may include one or more sub-arrays610. For example, the radar component600may have three sub-arrays that each have the four-phase shifters620to scan objects. In one approach, each phase shifter may represent an antenna element. In certain configurations, the radar component600arrangement may be configured as a digital or a hybrid radar system.

Furthermore, the radar component600may use each sub-array to generate or form three independent sub-beams for fine scanning an object. The radar component600may combine energy from the three sub-arrays to increase precision or accuracy. In one approach, the radar component600may use a distributed local oscillator630to collect data of the surrounding environment and perform digital beamforming. The output of the radar component600may be used by a radar analysis algorithm associated with the vehicle100for object detection. For example, the automated driving module(s)160may analyze the output to perform motion planning, maneuvers, braking, steering, or the like associated with automated driving of the vehicle100.

Forthcoming inFIGS. 7-10are examples of radar scanning operations in a surrounding environment of a vehicle using sectional three-dimensional beamforming to improve detecting, scanning, or tracking of an object during automated driving in accordance with configurations given herein.FIG. 7illustrates an example of stacked layers of antenna arrays to generate multiple sub-beams independently on each stack. The radar scanning operation700may generate beams710and720using end-fire antennas. In one approach, radar scanning may describe an operation where an array of receiver antennas scan for reflections or feedback off objects in the environment according to transmissions by a transmitter. The beams710and720may be mono-pulse beams that flexibly detect an object in any direction. In one approach, the radar scanning operation700may use a mono-pulse sum operation of beam amplitude and phase at a higher layer of the stacked antenna array to form SUM beams710according to the location of the object. A higher layer of the stacked antenna array may combine beams by a delta subtraction of beam amplitude and phase to form DELTA beams720according to the location of the object.

Concerning layer beam formation, the radar scanning operation700may independently generate and control the twelve sub-beams730since each layer includes a transmitter and receiver controlled by a distributed local oscillator. The twelve beams may also be formed by the radar scanning operation700using independent mixing and down conversion on a sub-array basis. In the radar scanning operation700, the distributed local oscillator may allow the generation of various and multiple beams through synchronization and scheduling. In this way, the radar scanning operation700may improve scanning accuracy by distinguishing an object in between the twelve mono-pulse beams.

In radar scanning operation700, an arrangement of four layers may each have groups of three antenna elements740that generate the twelve sub-beams750. Three antenna elements may be combined to generate a beam. In one approach, the radar scanning operation700may compare the combination of sub-beams1and10to 1, 2, 7, 10 to identify a vertical target direction for an object on a right side of a field-of-view angle. In another approach, a beam in a diagonal direction may be formed by sub-beams1and12or all 12 sub-beams combined according to the position of an object. The radar scanning operation700may repeat combining and analyzing different mono-pulse beams to increase the resolution of multiple objects in the area of both vertical and horizontal directions for fine tracking.

FIG. 8illustrates an example of a sub-array to scan vertically or horizontally. In the radar scanning operation800, the beam centers810may be associated with the sub-arrays820and830that may each include three antenna elements. The radar scanning operation800may use the three-dimensional beam840to independently scan vertically or horizontally using the three-layers. In one approach, the radar scanning operation800may iterate object scanning until parameters related to the threshold280are satisfied. In this way, the radar scanning operation800pattern improves object detection speed by independently scanning vertically or horizontally using three-dimensional beams from the three-layers.

FIG. 9illustrates an example of the radar scanning operation900that adapts beam concentration according to the driving environment. In a non-limiting example, the radar scanning operation900may comprise three-layers where each layer has nine antenna elements. In one approach, all the antenna inputs of the radar scanning operation900may be combined into a single beam910by adaptive phase shifting of sub-arrays such as by the radar component600. The single beam910may be a formed receive beam with a narrow half-power beam-width (HPBW). The radar scanning operation900may use HPBW for long-range detection of an object distant to the vehicle100. The long-range detection by the radar scanning operation900may have a high angular resolution but a narrow scan field-of-view.

In addition, the radar scanning operation900may also generate three independent beams920that may be narrow horizontally to scan a wider field-of-view for objects at a mid-range distance to the vehicle100. In one approach, the radar scanning operation900may use mid-range scanning that comprises a medium angular resolution and a wider field-of-view by a three-zone independent scan. A three-zone independent scan may allow the radar system to transfer or handoff tracking of an object by the tracking module230between zones. In addition, the radar scanning operation900may form nine independent beams930to scan vertical areas for the short-mid range of operation. For example, the radar scanning operation900may use short-mid range operation for urban environments, intersections, pedestrian clouds, dense population areas, near bicyclists, near pedestrians, or the like.

FIG. 10illustrates an example of independently using different layers of a layered antenna array that adapt to road inclines or declines. The radar scanning operation1000may generate or form upward-directed beams1010from a three-layer antenna array with nine antenna elements per layer. The radar scanning operation1000using the group of upward-directed beams1010may extend the range for scanning in the uphill driving scenario1020. The radar scanning operation1000may also generate or form the group of downward-directed beams1030to extend the range for scanning in the downhill driving scenario1040. Furthermore, the radar scanning operation1000may adapt the upward-directed beams1010or the downward-directed beams1030according to a flat or variable topography.

FIG. 1will now be discussed in full detail as an example environment within which the system and methods disclosed herein may operate. In some instances, the vehicle100is configured to switch selectively between different modes of operation/control according to the direction of one or more modules/systems of the vehicle100. In one approach, the modes include: 0, no automation; 1, driver assistance; 2, partial automation; 3, conditional automation; 4, high automation; and 5, full automation. In one or more arrangements, the vehicle100can be configured to operate in only a subset of possible modes.

In one or more arrangements, the map data116can include one or more terrain maps117. The terrain map(s)117can include information about the terrain, roads, surfaces, and/or other features of one or more geographic areas. The terrain map(s)117can include elevation data in the one or more geographic areas. The terrain map(s)117can define one or more ground surfaces, which can include paved roads, unpaved roads, land, and other things that define a ground surface.

As noted above, the vehicle100can include the sensor system120. The sensor system120can include one or more sensors. “Sensor” means a device that can detect, and/or sense something. In at least one embodiment, the one or more sensors detect, and/or sense in real-time. As used herein, the term “real-time” means a level of processing responsiveness that a user or system senses as sufficiently immediate for a particular process or determination to be made, or that enables the processor to keep up with some external process.

In arrangements in which the sensor system120includes a plurality of sensors, the sensors may function independently or two or more of the sensors may function in combination. The sensor system120and/or the one or more sensors can be operatively connected to the processor(s)110, the data store(s)115, and/or another element of the vehicle100. The sensor system120can produce observations about a portion of the environment of the vehicle100(e.g., nearby vehicles).

The sensor system120can include any suitable type of sensor. Various examples of different types of sensors will be described herein. However, it will be understood that the embodiments are not limited to the particular sensors described. The sensor system120can include one or more vehicle sensors121. The vehicle sensor(s)121can detect information about the vehicle100itself. In one or more arrangements, the vehicle sensor(s)121can be configured to detect position and orientation changes of the vehicle100, such as, for example, based on inertial acceleration. In one or more arrangements, the vehicle sensor(s)121can include one or more accelerometers, one or more gyroscopes, an inertial measurement unit (IMU), a dead-reckoning system, a global navigation satellite system (GNSS), a GPS, a navigation system147, and/or other suitable sensors. The vehicle sensor(s)121can be configured to detect one or more characteristics of the vehicle100and/or a manner in which the vehicle100is operating. In one or more arrangements, the vehicle sensor(s)121can include a speedometer to determine a current speed of the vehicle100.

Alternatively, or in addition, the sensor system120can include one or more environment sensors122configured to acquire data about an environment surrounding the vehicle100in which the vehicle100is operating. “Surrounding environment data” includes data about the external environment in which the vehicle is located or one or more portions thereof. For example, the one or more environment sensors122can be configured to sense obstacles in at least a portion of the external environment of the vehicle100and/or data about such obstacles. Such obstacles may be stationary objects and/or dynamic objects. The one or more environment sensors122can be configured to detect other things in the external environment of the vehicle100, such as, for example, lane markers, signs, traffic lights, traffic signs, lane lines, crosswalks, curbs proximate the vehicle100, off-road objects, etc.

As an example, in one or more arrangements, the sensor system120can include one or more of each of the following: radar sensors123, LIDAR sensors124, sonar sensors125, weather sensors, haptic sensors, locational sensors, and/or one or more cameras126. In one or more arrangements, the one or more cameras126can be high dynamic range (HDR) cameras, stereo or infrared (IR) cameras.

The vehicle100can include an input system130. An “input system” includes components or arrangement or groups thereof that enable various entities to enter data into a machine. The input system130can receive an input from a vehicle occupant. The vehicle100can include an output system135. An “output system” includes one or more components that facilitate presenting data to a vehicle occupant.

The navigation system147can include one or more devices, applications, and/or combinations thereof, now known or later developed, configured to determine the geographic location of the vehicle100and/or to determine a travel route for the vehicle100. The navigation system147can include one or more mapping applications to determine a travel route for the vehicle100. The navigation system147can include a GPS, a local positioning system, or a geolocation system.

The processor(s)110, the radar system170, and/or the automated driving module(s)160can be operatively connected to communicate with the various vehicle systems140and/or individual components thereof. For example, returning toFIG. 1, the processor(s)110and/or the automated driving module(s)160can be in communication to send and/or receive information from the various vehicle systems140to control the movement of the vehicle100. The processor(s)110and/or the automated driving module(s)160may control some or all of the vehicle systems140and, thus, may be partially or fully autonomous as defined by the society of automotive engineers (SAE) 0 to 5 levels.

The vehicle100can include one or more actuators150. The actuators150can be an element or combination of elements operable to alter one or more of the vehicle systems140or components thereof responsive to receiving signals or other inputs from the processor(s)110and/or the automated driving module(s)160. For instance, the one or more actuators150can include motors, pneumatic actuators, hydraulic pistons, relays, solenoids, and/or piezoelectric actuators, just to name a few possibilities.