# Patent

## Title
Autonomous vehicle ranging system with polarized antenna

## Abstract

A front end of a radar system is provided with a first front end apparatus and a second front end apparatus. A first transmit planar component and a first receive planar component in the first front end apparatus are arranged to be perpendicular to one another. A second transmit planar component and a second receive planar component in the second front end apparatus are arranged to be perpendicular to one another. A linear array of antennas is located along a second end of each planar component. Polarization of a first set of waves transmitted from the linear array of antennas of the first transmit planar component and polarization of a second set of waves transmitted from the linear array of antennas of the second transmit planar component are perpendicular to one another.

## Background
CROSS REFERENCES TO RELATED APPLICATIONS
The present application claims priority to U.S. Provisional Patent Application No. 63/032,999, filed Jun. 1, 2020; U.S. Provisional Patent Application No. 63/033,023, filed Jun. 1, 2020; U.S. Provisional Patent Application No. 63/033,035, filed Jun. 1, 2020; U.S. Provisional Patent Application No. 63/034,675, filed Jun. 4, 2020; U.S. Provisional Patent Application No. 63/034,729, filed Jun. 4, 2020; U.S. Provisional Patent Application No. 63/034,751, filed Jun. 4, 2020; U.S. Provisional Patent Application No. 63/034,769, filed Jun. 4, 2020; and U.S. Provisional Patent Application No. 63/034,937, filed Jun. 4, 2020. The entire contents and disclosure of these applications are incorporated by reference herein.


BACKGROUND OF THE INVENTION
Field of the Invention
The present disclosure relates to apparatus and methods of detecting objects or obstacles and, more particularly, apparatus and methods of detecting or recognizing objects or obstacles with high accuracy.
Description of the Related Art
A phased array radar system may be a radar system that manipulates the phase of one or more radio waves transmitted by a transmitting and receiving module and uses a pattern of constructive and destructive interference created by the radio waves transmitted with different phases to steer a beam of radio waves in a desired direction.
In modern radar systems, in order to achieve superior resolution and range, it is desirable to maintain a broad bandwidth with minimal losses throughout the system. Moreover, the growing focus toward imaging radar systems is pushing the frequency range for phased array systems into the millimeter-wave range and beyond. However, achieving a constant progressive phase shift between adjacent antennas over a wide bandwidth is a significant challenge at millimeter-wave frequencies.
SUMMARY OF THE INVENTION
In one example embodiment, a front end of a radar system comprises a first front end apparatus and a second front end apparatus. The first front end apparatus includes a first transmit planar component and a first receive planar component. The first transmit planar component and the first receive planar component are arranged to be perpendicular to one another. The second front end apparatus includes a second transmit planar component and a second receive planar component. The second transmit planar component and the second receive planar component are arranged to be perpendicular to one another. Each of the first transmit planar component, the first receive planar component, the second transmit planar component and the second receive planar component includes a first end, a second end, a cavity space and a linear array of antennas. The second end is located opposite the first end. Electromagnetic waves propagate in propagation directions between the first end and the second end. The cavity space is bounded by beam ports along a first side of the cavity space and by array ports along a second side of the cavity space. The cavity space is in operative communication with the beam ports and with the array ports to form a Rotman lens. The linear array of antennas is located along the second end of the planar component. Each of the antennas is in operative communication with a corresponding one of the array ports. The first transmit planar component and the second transmit planar component are parallel to one another, and the first receive planar component and the second receive planar components are parallel to one another. A first set of waves are transmitted from the linear array of antennas of the first transmit planar component to be received by the linear array of antennas of the first receive planar component, and a second set of waves are transmitted from the linear array of antennas of the second transmit planar component to be received by the linear array of antennas of the second receive planar component. Polarization of the first set of waves transmitted from the linear array of antennas of the first transmit planar component and polarization of the second set of waves are transmitted from the linear array of antennas of the second transmit planar component are perpendicular to one another.
In another embodiment, a method of detecting an object, the method comprises: providing a first linear array of transmit antennas and a second linear array of transmit antennas, the first linear array of transmit antennas and the second linear array of transmit antennas being parallel to one another; providing a first linear array of receive antennas and a second linear array of receive antennas, the first linear array of receive antennas and the second linear array of receive antennas being parallel to one another; arranging the first linear array of transmit antennas and the first linear array of receive antennas to be perpendicular to one another; arranging the second linear array of transmit antennas and the second linear array of receive antennas to be perpendicular to one another; phase-shifting first waves by propagating the first waves through a first Rotman lens that is in operative communication with the first linear array of transmit antennas; phase-shifting second waves by propagating the second waves through a second Rotman lens that is in operative communication with the second linear array of transmit antennas; transmitting the first waves through the first linear array of transmit antennas; transmitting the second waves through the second linear array of transmit antennas; receiving the first waves reflected by an object through the first linear array of receive antennas; receiving the second waves reflected by an object through the second linear array of receive antennas; propagating the first waves reflected by an object through a third Rotman lens that is in operative communication with the first linear array of receive antennas; and propagating the second waves reflected by an object through a fourth Rotman lens that is in operative communication with the second linear array of receive antennas.



BRIEF DESCRIPTION OF THE DRAWINGS
A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein:
FIG. 1 shows a schematic representation of an example embodiment of a radar system including a first front end apparatus and a second front end apparatus in accordance with the present disclosure;
FIG. 2 shows an example embodiment of transmit modules and receive modules of the first front end apparatus and the second front end apparatus;
FIG. 3 shows an example embodiment of transmit planar components and receive planar components for the first and second front end apparatuses;
FIG. 4 shows an example embodiment of half blocks of the transmit planar components and half blocks of the receive planar components where waveguides and a Rotman lens are formed thereon;
FIG. 5 is a close-up view of an example embodiment of a polarization rotator on the half block of the transmit planar component;
FIG. 6 is an isolated view of the example polarization rotator including a first section, an iris section and a second section;
FIG. 7A is a cross-sectional view across the first section of the polarization rotator of a planar component;
FIG. 7B is a schematic representation of polarization of waves in the first section of the polarization rotator;
FIG. 8A is a cross-sectional view across the iris section of the polarization rotator of the planar component;
FIG. 8B is a schematic representation of polarization of waves in the iris section of the polarization rotator;
FIG. 9A is a cross-sectional view across the second section of the polarization rotator of a planar component;
FIG. 9B is a schematic representation of polarization of waves in the second section of the polarization rotator;
FIG. 10 shows an example embodiment of a front end where a Rotman lens and a transmission lines are formed with microstrips;
FIG. 11 shows an example embodiment of a half block of a planar component for a front end device including a Rotman lens with sidewall absorbers;
FIG. 12 shows a computer graphic illustration of an example embodiment of a fixture to test performance of a sidewall absorber;
FIG. 13 is a graph showing the minimum reflection (S11) and the maximal transmission (S12) for the iris section for given dimensions of the iris section; and
FIG. 14 is an illustration of reflections around example triangular teeth of sidewall absorbers of the Rotman lens.



DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Range-finding systems use reflected waves to discern, for example, the presence, distance and/or velocity of objects. Radio Detection And Ranging (radar) and other range-finding systems have been widely employed in applications, by way of non-limiting example, in autonomous vehicles such as self-driving cars, as well as in wireless communications modems of the type employed, such as in Massive-MIMO (multiple-in-multiple-out) networks, 5G wireless telecommunications, all by way of non-limiting example.
The radar system may include optimized RF front-end device(s) aiding in achieving higher resolution by improving azimuth resolution, elevation resolution, or any combination thereof. Azimuth resolution is the ability of a radar system to distinguish between objects at similar range but different bearings. Elevation resolution is the ability of a radar system to distinguish between objects at similar range but different elevation. Angular resolution characteristics of a radar are determined by the antenna beam-width represented by the −3 dB angle which is defined by the half-power (−3 dB) points. In some embodiments, radar system or phased array system disclosed herein may have a −3 dB beam-width of 1.5 degree or less in both azimuth resolution and elevation resolution. In particular, the radar system can be configured to achieve finer azimuth resolution and elevation resolution by employing an RF front-end device having two linear antennas arrays arranged perpendicularly and a Rotman lens as a phase shifting network, as will be described below.
FIG. 1 shows a schematic illustration of an example radar system 100 having the abovementioned functionalities. The radar system 100 may include a millimeter wave radar that emits a low power millimeter wave operating at 76-81 GHz (with a corresponding wavelength of about 4 mm). The radar system can also operate at other frequency range that is below 76 GHz or above 81 GHz. The radar system may comprise any one or more elements of a conventional radar system, a phased array radar system, an AESA (Active Electronically Scanned Array) radar system, a synthetic aperture radar (SAR) system, a MIMO (Multiple-Input Multiple-Output) radar system, and/or a phased-MIMO radar system. A conventional radar system may be a radar system that uses radio waves transmitted by a transmitting antenna and received by a receiving antenna to detect objects. A phased array radar system may be a radar system that manipulates the phase of one or more radio waves transmitted by a transmitting and receiving module and uses a pattern of constructive and destructive interference created by the radio waves transmitted with different phases to steer a beam of radio waves in a desired direction.
The radar system 100 may be provided on a movable object to sense an environment surrounding the movable object. Alternatively, the radar system may be installed on a stationary object.
A movable object can be configured to move within any suitable environment, such as in air (e.g., a fixed-wing aircraft, a rotary-wing aircraft, or an aircraft having neither fixed wings nor rotary wings), in water (e.g., a ship or a submarine), on ground (e.g., a motor vehicle, such as a car, truck, bus, van, motorcycle, bicycle; a movable structure or frame such as a stick, fishing pole; or a train), under the ground (e.g., a subway), in space (e.g., a spaceplane, a satellite, or a probe), or any combination of these environments. The movable object can be a vehicle, such as a vehicle described elsewhere herein. In some embodiments, the movable object can be carried by a living subject, or taken off from a living subject, such as a human or an animal.
In some cases, the movable object can be an autonomous vehicle which may be referred to as an autonomous car, driverless car, self-driving car, robotic car, or unmanned vehicle. In some cases, an autonomous vehicle may refer to a vehicle configured to sense its environment and navigate or drive with little or no human input. As an example, an autonomous vehicle may be configured to drive to any suitable location and control or perform all safety-critical functions (e.g., driving, steering, braking, parking) for the entire trip, with the driver not expected to control the vehicle at any time. As another example, an autonomous vehicle may allow a driver to safely turn their attention away from driving tasks in particular environments (e.g., on freeways), or an autonomous vehicle may provide control of a vehicle in all but a few environments, requiring little or no input or attention from the driver.
In some instances, the radar systems may be integrated into a vehicle as part of an autonomous-vehicle driving system. For example, a radar system may provide information about the surrounding environment to a driving system of an autonomous vehicle. An autonomous-vehicle driving system may include one or more computing systems that receive information from a radar system about the surrounding environment, analyze the received information, and provide control signals to the vehicle's driving systems (e.g., steering wheel, accelerator, brake, or turn signal).
The radar system 100 that may be used on a vehicle to determine a spatial disposition or physical characteristic of one or more targets in a surrounding environment. The radar system may advantageously have a built-in predictive model for object recognition or high-level decision making. For example, the predictive model may determine one or more properties of a detected object (e.g., materials, volumetric composition, type, color, etc.) based on radar data. Alternatively or additionally, the predictive model may run on an external system such as the computing system of the vehicle.
The radar system may be mounted to any side of the vehicle, or to one or more sides of the vehicle, e.g. a front side, rear side, lateral side, top side, or bottom side of the vehicle. In some cases, the radar system may be mounted between two adjacent sides of the vehicle. In some cases, the radar system may be mounted to the top of the vehicle. The system may be oriented to detect one or more targets in front of the vehicle, behind the vehicle, or to the lateral sides of the vehicle.
A target may be any object external to the vehicle. A target may be a living being or an inanimate object. A target may be a pedestrian, an animal, a vehicle, a building, a sign post, a sidewalk, a sidewalk curb, a fence, a tree, or any object that may obstruct a vehicle travelling in any given direction. A target may be stationary, moving, or capable of movement.
A target object may be located in the front, rear, or lateral side of the vehicle. A target object may be positioned at a range of about 1, 2, 3, 4, 5, 10, 15, 20, 25, 50, 75, or 100 meters from the vehicle. A target may be located on the ground, in the water, or in the air. A target object may be oriented in any direction relative to the vehicle. A target object may be orientated to face the vehicle or oriented to face away from the vehicle at an angle ranging from 0 to 360 degrees.
A target may have a spatial disposition or characteristic that may be measured or detected. Spatial disposition information may include information about the position, velocity, acceleration, and other kinematic properties of the target relative to the terrestrial vehicle. A characteristic of a target may include information on the size, shape, orientation, volumetric composition, and material properties, such as reflectivity, material composition, of the target or at least a part of the target.
A surrounding environment may be a location and/or setting in which the vehicle may operate. A surrounding environment may be an indoor or outdoor space. A surrounding environment may be an urban, suburban, or rural setting. A surrounding environment may be a high altitude or low altitude setting. A surrounding environment may include settings that provide poor visibility (night time, heavy precipitation, fog, particulates in the air). A surrounding environment may include targets that are on a travel path of a vehicle. A surrounding environment may include targets that are outside of a travel path of a vehicle. A surrounding environment may be an environment external to a vehicle.
Referring to FIG. 1, in some embodiments, the radar system 100 may comprise a front end 102 with two front end apparatuses 10a and 10b in which at least two phased array modules are arranged perpendicularly with each other and the received signals are processed by the correlator of the phased array module. The front end apparatuses 10a, 10b may be operatively connected to a signal analysis module 101 such that the processed data (e.g., post correlated data) may further be processed by the signal analysis module 101 for object recognition, constructing point cloud image data and other analysis. In some embodiments, a phased array module of the front end apparatuses 10a, 10b may comprise a transmit logic 12, receive logic 14 and correlation logic 16 illustrated in FIG. 1. The phased array module and SERDES may include those described in U.S. Pub. No. 2018/0059215 entitled “Beam-Forming Reconfigurable Correlator (Pulse Compression Receiver) Based on Multi-Gigabit Serial Transceivers (SERDES)”, which is incorporated by reference herein in its entirety.
For example, the transmit logic 12 may comprise componentry of the type known in the art for use with radar systems (and particularly, for example, in pulse compression radar systems) to transmit into the environment or otherwise a pulse based on an applied analog signal. In the illustrated embodiment, this is shown as including a power amplifier 18, band pass filter 20 and transmit antenna 22, connected as shown or as otherwise known in the art.
The receive logic 14 comprises componentry of the type known in the art for use with RADAR systems (and particularly, for example, in pulse compression RADAR systems) to receive from the environment (or otherwise) incoming analog signals that represent possible reflections of a transmitted pulse. In point of fact, those signals may often include (or solely constitute) noise. In the illustrated embodiment, the receive logic includes receive antenna 24, band pass filter 26, low noise amplifier 28, and limiting amplifier 30, connected as shown or as otherwise known in the art.
The correlation logic 16 correlates the incoming signals, as received and conditioned by the receive logic 14, with the pulse transmitted by the transmit logic 12 (or, more aptly, in the illustrated embodiment, with the patterns on which that pulse is based) in order to find when, if at all, there is a high correlation between them. Illustrated correlation logic comprises serializer/deserializer (SERDES) 32, correlator 34 and waveform generator 36, coupled as shown (e.g., by logic gates of an FPGA or otherwise) or as otherwise evident in view of the teachings hereof.
FIG. 2 illustrates an example embodiment of a front end 102 for a millimeter wave radar system 100. A millimeter wave radar may emit a low power millimeter wave operating at 76-81 GHz (with a corresponding wavelength of about 4 mm). The radar system can also operate at other frequency range that is below 76 GHz or above 81 GHz. The radar system may comprise any one or more elements of a conventional radar system, a phased array radar system, an AESA (Active Electronically Scanned Array) radar system, a synthetic aperture radar (SAR) system, a MIMO (Multiple-Input Multiple-Output) radar system, and/or a phased-MIMO radar system. A conventional radar system may be a radar system that uses radio waves transmitted by a transmitting antenna and received by a receiving antenna to detect objects.
As shown in FIGS. 1-3, each of the front end apparatuses 10a, 10b may include phased array modules, i.e., a transmit module and a receive module. In a first front end apparatus 10a, a first transmit module 40a may include a first transmit planar component 41a and a first transmit logic 12a, and a first receive module 42a may include a first receive planar component 43a and a first receive logic 14a. In a second front end apparatus 10b, a second transmit module 40b may include a second transmit planar component 41b and a second transmit logic 12b, and a second receive module 42b may include a second receive planar component 43b and a second receive logic 14b. 
FIG. 3 shows the transmit planar components 41a, 41b and the receive planar components 43a, 43b isolated from other components. Each of the planar components 41a, 41b, 43a and 43b may be operatively connected with the corresponding phased array logic 12a, 12b, 14a, 14b by including, for example, a slot 44 (FIG. 3) that accommodates the corresponding phased array logic. While the example embodiment in FIG. 3 shows the first transmit planar component 41a above the second transmit planar component 41b, such an arrangement of the planar components may vary in other embodiments. Moreover, while the example embodiment in FIG. 3 shows the first receive planar component 43a left of the second receive planar component 43b, such an arrangement of the planar components may vary in other embodiments.
The planar components 41a/41b/43a/43b may be embodied in the form of a rectangular substrate or plate, as shown in FIG. 3, and may include a first end 45 and a second end 46 that are located on opposite longitudinal ends of the rectangular substrate. The first end 45 of the planar components 41a/41b/43a/43b may be operatively connected to the phased array logic 12a/12b/14a/14b at the slot 44, and the second end 46 of the planar component 41/43 may include an array of antennas 22 or 24. The phased array logic 12a/12b/14a/14b may connect to the planar component 41a/41b/43a/43b at the slot 44 forming a right angle near the first end 45. The array of transmit antennas 22 and the array of receive antennas 24 may be perpendicular to one another if the transmit planar component 41a/41b and the receive planar component 43a/43b are arranged to be perpendicular to one another (FIGS. 2-4).
The planar component 41a/41b/43a/43b may be formed from a split block assembly in that the planar component 41a/41b/43a/43b is formed by assembling a plurality of blocks. For example, the planar component 41a/41b/43a/43b may be formed from half blocks 48/49 that substantially mirror one another along a junction plane that divides the planar component 41a/41b/43a/43b in half thereby forming two symmetrical halves. FIG. 4 only shows one of the two half blocks 48/49 where the half block 48 is part of the first front end apparatus 10a and the half block 49 is part of the second front end apparatus 10b. 
The inner surfaces of the blocks of the planar components 41a/41b/43a/43b are formed with recesses or cavities that form the inner structure of the planar components 41a/41b/43a/43b as will be described below. The recesses or cavities on the blocks 41a/41b/43a/43b may be formed by a variety of manufacturing methods known in the art (e.g., computer numerical control (CNC) machining, injection molding, or the like) capable to achieving desired fabrication tolerances. As shown in FIGS. 5-6, some curved surfaces (i.e., chamfers) may remain on the planar components 41a/41b/43a/43b due to the non-zero diameter of the end bit of the CNC milling machine which may be 20 mils, for example.
The planar component 41a/41b/43a/43b may be made of metals (e.g., aluminum), metallic alloys, thermoplastics, other materials known in the art, or a combination thereof. For example, the planar component 41a/41b/43a/43b may be made of thermoplastics primarily, and be plated or coated with metals (e.g., gold) or metallic alloys to reduce weight.
In some embodiments, a phased array module 40/42 may include a phase shifting network in the RF front-end device. In some embodiments, the phase shifting network may be implemented using a Rotman lens 23 (FIGS. 1 and 4) which may be interposed between the phased array logic (the transmit logic 12 or the receive logic 14) and the array of multiple transmit antennas 22/24, as shown in FIG. 1. In some cases, the RF front-end device may comprise a phase shifting network (i.e., the Rotman lens 23) and a linear antennas array.
The transmit antennas 22 and/or the receive antennas 24 can be any suitable type of antennas. For example, the antennas 22/24 may be a microstrip patch array, Vivaldi antennas, slot coupled patches, horns and others. In some embodiments, the antennas 22/24 may be microstrip bipodal vivaldi antennas that are fed by the Rotman lens 23. For example, the antennas array may be coupled to the array ports of the Rotman lens 23 on a one-to-one basis.
As shown in FIG. 4, the Rotman lens 23 may include a cavity space 50, and a perimeter of the cavity space 50 may include a first side, a second side that is opposite the first side, a third side, and a fourth side that is opposite the third side. Input ports or beam ports 50a may be located on the first side while output ports or array ports 50b may be located on the second side of the cavity space 50. The Rotman lens 23 may be configured such that the beam ports 50a are near the first end 45 of the planar component 41a/41b/43a/43b while the array ports 50b are near the second end 46 thereof.
If one of the beam ports 50a is excited, the electromagnetic waves will be emitted into the cavity space 50 and will reach a corresponding one of array ports 50b. The shape of contour with the array ports 50b and the length of waveguides 52, which connect the ends 45, 46 of the planar component 41a/41b/43a/43b and the ports 50a/50b, are determined so that, a progressive phase taper is created on the array antennas 22/24 and thus a beam is formed at a particular direction in the space.
In the present embodiment, the Rotman lens 23 for the transmit module has 63 beam ports and 72 array ports, while the Rotman lens 23 for the receive module has 30 beam ports and 72 array ports. Moreover, the front end apparatuses 10a, 10b has an azimuth scanning angle of 50 degrees and an elevation scanning angle of 40 degrees. These values may vary depending on how the Rotman lens 23 is embodied. Moreover, the front end apparatuses 10a, 10b may include 72 transmit antennas and 72 receive antennas where the antennas 22, 24 are equidistantly spaced apart from one another.
The Rotman lens 23 may serve as a robust and low-cost broadband phase shifting network for the disclosed RF front-end devices and structures. In these cases, active circuitry may be integrated with the beam ports of the Rotman lens, and the lens itself may then be optimized to provide accurate phasing. In accordance with another aspect of the disclosure, some embodiments may include a Rotman lens 23 with enhanced focusing functionality to provide the phasing with low power loss.
The third side and the fourth side of the Rotman lens 23 may include dummy ports or sidewall absorbers 50c, 59d, such as radio frequency absorbers, are formed to suppress reflections from the sides of the Rotman lens 23. The radio frequency absorbers may be made of wave absorbing materials such as Eccosorb® MCS, LS26 or BSR.
FIGS. 4 and 11 illustrate embodiments of the Rotman lens 23 with jagged sidewall absorbers 50c, 59d. Sidewall absorbers 50c, 50d having shapes shown in FIG. 11 may be effective at attenuating the wavefront of the incident pulses. The shape of the sidewall absorbers 50c, 50d may include a plurality of sharp triangular “teeth.” As shown in FIG. 14, these triangular teeth 64 may be formed such that the imaginary lines 62 extending between adjacent vertices of the triangular teeth 64 pointing into the cavity space 50 of the Rotman lens 23, may be oriented to be substantially normal to the curvature of the wavefront. Under such a configuration, a substantial amount of energy may be captured in-between the teeth 64 thereby allowing for an effective dissipation by the sidewall absorbers 50c, 50d, as observable in FIG. 14.
The properties of a sidewall absorber 50c/50d may be tested on a fixture 66 a simulated embodiment of which is illustrated in FIG. 12. The properties of a sidewall absorber 50c/50d may be tested on the fixture 66 by feeding a signal into the fixture through its input waveguide port and measuring the reflection coefficient S11 on a Network Analyzer with waveguide millimeter-wave test heads, a simulated embodiment of which is illustrated in FIG. 12. Specifically, by emitting waves through the slot 68 towards the triangular teeth 64 of a sidewall absorber 50c/50d secured in a depression of the fixture 66 and measuring the amount of reflection from the triangular teeth 64, it is possible to test the effectiveness of the sidewall absorber 50c/50d. 
As shown in FIG. 10, the Rotman lens 23 can be implemented using waveguides, microstrip, stripline technologies or any combination of these features. In some embodiments, the Rotman lens may be microstrip-based Rotman lens. In some embodiments, the Rotman lens 23 may be a waveguide-based Rotman lens. In some cases, waveguides may be used in place of transmission lines.
In the embodiment of FIGS. 4-9B, the planar component 41a/41b/43a/43b further includes waveguides 52 between the first end 45 and the beam ports 50a (i.e., first waveguides 52a) and between the array ports 50b and the second end 46 (i.e., second waveguides 52b). The waveguides 52 may be embodied as rectangular waveguides integrated into the planar component 41a/41b/43a/43b such that the waveguides 52 form walls that guide the propagation of electromagnetic waves through the planar component 41a/41b/43a/43b during transmission or reception of antenna signals from the first end 45 to the second end 46 or vice versa.
Each of the waveguides 52 may provide a hollow space through which the electromagnetic waves propagate. While FIGS. 5-6 show only one half of the hollow space of the waveguides 52, the hollow space of the half blocks 48/49 may form an enclosed space that extends along the planar component 41a/41b/43a/43b and may take on various geometries to affect the polarization of the waves at different locations of the front end apparatus 10b, 10b. Specifically, the shape of the cross-section of the hollow space may be described based on a reference rectangular cross-section 54 with a given width in the width directions and a given height in the height directions. The waveguide 52 may include a section where the cross-section of the hollow space is as large as the reference rectangular cross-section 54 or smaller than the reference rectangular cross-section 54 as will be described below.
Each of the waveguides 52 of the Rotman lens 23 may be configured to include one or more polarization rotators 56 to control the polarization of the waves out of and into the phased array logics. FIGS. 5-6 show an example embodiment of the polarization rotator 56 that is integrated onto the waveguides 52. The polarization rotator 56 may include a first section 56a, an iris section 56b, and a second section 56c which are continuously arranged in a longitudinal direction of the planar component 41a/41b/43a/43b. 
FIG. 5 shows an inner side of a half block 48 of the transmit planar component 41a/41b where the polarization rotator 56 is formed near the first end 45. The polarization rotator 56 may be similarly formed near the first end 45 of the receive planar component 43a/43b. In the first section 56a of the polarization rotator 56 (FIGS. 7A-7B), the waveguide 52 may include a first set of cuboid obstructions 58a that protrude into the hollow space in opposite height directions such that the height of the cross-section of the first section 56a is less than the given height of the reference rectangular cross-section 54 while the width of the cross-section of the first section 56a may be the same as the given width of the reference rectangular cross-section 54. Such height and width may be substantially constant throughout the first section 56a in the longitudinal directions.
In the iris section 56b of the polarization rotator 56 (FIGS. 8A-8B), the waveguide 52 may include a diagonal set of cuboid obstructions 58b that protrude into the hollow space from diagonally opposite corners of the reference rectangular cross-section 54 such that an octagonal, cross-sectional area of the iris section 56b is obtained. This cross-sectional area of the iris section 56b may be substantially constant throughout the iris section 56b in the longitudinal directions.
It should be noted that FIG. 8A shows a cross-section across the iris section 56b of the polarization rotator 56 observed from the viewpoint of the first section 56a such that the second section 56c is visible behind the iris section 56b while FIG. 8B shows a cross section across the iris section 56b of the polarization rotator 56 observed from the viewpoint of the second section 56c such that first section 56a is visible behind the iris section 56b. 
In the second section 56c of the polarization rotator 56 (FIGS. 9A-9B), the waveguide 52 may include a second set of cuboid obstructions 58c that protrude into the hollow space from opposite width directions such that the width of the cross-section of the second section 56c is less than the given width of the reference rectangular cross-section 54 while the height of the cross-section of the second section 56c may be the same as the given height of the reference rectangular cross-section 54 (FIG. 9A). Such height and width may be substantially constant throughout the second section 56c in the longitudinal directions.
Various dimensions of the iris section 56b (FIG. 6) can affect different parameters of the radar system. The height 60a of the cuboid obstructions 58b in the iris section 56b can be used to tune total effective bandwidth and can affect a balance between bandwidth and central band frequency. The length 60b of the cuboid obstructions 58b of the iris section 56b can be used to tune the effective band center. The gap 60c of the iris section 56b, which is measured between a sidewall of the cuboid obstructions 58b and a sidewall of the second section 56c, can affect both the bandwidth and insertion loss of the polarization rotation. In one example embodiment, the height 60a of the cuboid obstructions 58b of the iris section 56b, the length 60b of the cuboid obstructions 58b of the iris section 56b, and the gap 60c of the iris section 56b may respectively be 0.017 in., 0.094 in., and 0.035 in. Moreover, the entire length of the polarization rotator that is the combined length of the first section 56a, the iris section 56b, and the second section 56c may be less than 2λ where λ is equal to a wavelength of the waves traveling through the front end.
The aforementioned dimensions of the iris section 56b may affect the performance of the antenna which may be described in terms of S-parameters (where SNM represents the power transferred from Port M to Port N in a multi-port network), as shown in the graph of FIG. 13. In one embodiment of the iris section 56, the dimensions of the iris section 56b may control the locations of a minima of S11 (minimum reflection) and a maxima of S21 (maximum transmission) as well as the beamwidth. In the example of FIG. 13, S11 has a minima of about −31.019899 dB at 78.5 GHz while S21 has a maxima of about −0.00099132481 dB.
Due to the complex interaction of the tuning parameters, a systematic tuning approach to getting the needed bandwidth, central frequency and insertion loss are needed when designing the polarization rotator 56. The process for tuning should be to pick nominal values for the three aforementioned parameters. Nominal values are based on the waveguide 52 selected and are typically 1⁄4 to 1 times the waveguide long dimension depending on the parameter. Once nominal values are chosen length for the iris section should be tuned to achieve the needed central frequency response. After central frequency response is achieved, the height of the cuboid obstruction 58b should be tuned to get the desired bandwidth and insertion loss. If bandwidth and insertion loss are not achieved, the gap of the iris section 56b can be changed to help insertion loss. The gap of the iris section should typically be 30-50% of the long dimension of the waveguide 52. Deviations from this lead to very narrow bandwidths or high insertion loss. Once the desired insertion loss and bandwidth are achieved a re-tune of the length of the iris section will shift the central frequency back to the desired position from the shift due to adjustments to parameters such as the height of the cuboid obstructions 58b and the gap 60c of the iris section 56.
As shown in FIG. 4, the waveguides 52 extending between the first end 45 and the beam ports 50a of the Rotman lens 23 may form a set of first waveguides 52a in the transmit planar component 41a/41b and the receive planar component 43a/43b. Each waveguide in the set of first waveguides 52a may further include one or more polarization rotator(s) 56. As further shown in FIG. 4, the waveguides 52 extending between the second end 46 and the array ports 50b of the Rotman lens 23 in the transmit planar component 41a/41b and in the receive planar component 43a/43b may form a set of second waveguides 52b. Each waveguide 52 in the set of second waveguides 52b in the transmit planar component 41a/41b and the receive planar component 43a/43b may further include one or more polarization rotator 56.
In the present embodiment of the first front end apparatus 10a, which includes the first transmit planar component 41a and the first receive planar component 43a, each first waveguide 52a in the first transmit planar component 41a and the first receive planar component 43a may include a first polarization rotator 56A where the first section 56a of the first polarization rotator 56 is located nearer the first end 41a than the second section 56c thereof. Moreover, in the present embodiment of the first front end apparatus 10a, each second waveguide 52b in the first transmit planar component 41a may include a second polarization rotator 56B which is positioned adjacent the array of antennas 22 and in which the first section 56a of the polarization rotators 56 is nearer the second end 46 than the second section 56c thereof. Furthermore, in the present embodiment of the first front end apparatus 10a, each second waveguide 52b in the first receive planar component 43a does not include a second polarization rotator 56B.
In the present embodiment of the second front end apparatus 10b, which includes the second transmit planar component 41b and the second receive planar component 43b, each first waveguide 52a in the second transmit planar component 41b and the second receive planar component 43b may also include a first polarization rotator 56A. Moreover, in the present embodiment of the second front end apparatus 10b, each second waveguide 52b in the second receive planar component 43b may include a second polarization rotator 56B which is positioned adjacent the array of antennas 24 and in which the first section 56a of the polarization rotators 56 is nearer the second end 46 than the second section 56c thereof. Furthermore, in the present embodiment of the second front end apparatus 10b, each second waveguide 52a in the second transmit planar component 41b does not include a second polarization rotator 56B.
In the aforementioned arrangement of polarization rotators 56A and 56B, each of the first front end apparatus 10a and the second front end apparatus 10b may include an odd number of sets of polarization rotators 56A or 56B. Moreover, one of the first front end apparatus 10a and the second front end apparatus 10b may include an odd number of set or sets of polarization rotators 56A or 56B in the transmit planar component 41a or 41b while the other of the first front end apparatus 10a and the second front end apparatus 10b includes an even number of sets of polarization rotators 56A or 56B in the transmit planar component 41a or 41b. Specifically, in the present embodiment, each of the first front end apparatus 10a and the second front end apparatus 10b has 3 sets of polarization rotators 56A or 56B. Moreover, the first transmit planar component 41a of the first front end apparatus 10a may have 2 sets of polarization rotators 56A and 56B (one near the first end 45 and another near the second end 46) while the first receive planar component 43a of the first front end apparatus 10a may have 1 set of polarization rotators 56A near the first end 45. In the second front end apparatus 10b, the second transmit planar component 41b of the second front end apparatus 10b may have only 1 set of polarization rotator 56A near the first end 45 while the second receive planar component 43b may have 2 sets of polarization rotators 56A and 56B (one near the first end 45 and another near the second end 46).
It should be noted that the total number of sets of polarization rotators 56A and 56B in the front end apparatus 10a and the second front end apparatus 10b may vary in other embodiments. For example, the total number of sets of polarization rotators 56A and/or 56B in the front end apparatus 10a and the second front end apparatus 10b may be 1, 5 or another odd number instead of 3.
The electromagnetic waves propagating through the present apparatus may be in the Transverse Electric (TE) 10 mode. The polarization of the waves may be altered by the polarization rotators 56 located throughout the first front end apparatus 10a and the second front end apparatus 10b. 
The change in the polarization of waves during propagation through the present embodiment of the radar system may be described as follows. In the first front end apparatus 10a, waves originating from the first transmit logic 12a are polarized to be perpendicular to the plane of the Rotman lens 23 (FIG. 7B) but undergo a 90-degree polarization rotation or twist to become polarized parallel to the plane of the Rotman lens 23 (FIG. 9B) as the waves propagate through the first polarization rotators 56A of the set of first waveguides 52a of the first transmit planar component 41a in the first front end apparatus 10a. Specifically, the waves move through the first polarization rotator 56A (i.e., the first section 56a, the iris section 56b and the second section 56c thereof), and the E-plane of the waves is polarized to be parallel to the plane of the Rotman lens 23 of the first transmit planar component 41a. After the waves move through the Rotman lens 23 of the first transmit planar component 41a, the waves undergo another 90-degree polarization rotation or twist at the second polarization rotators 56B (i.e., the second section 56c, the iris section 56b and the first section 56a thereof) to become polarized to be perpendicular to the plane of the Rotman lens 23 of the first transmit planar component 41a and are transmitted from the transmit antennas 22 of the first front end apparatus 10a. If the first transmit planar component 41a is oriented to be horizontal about the ground, the polarization of the waves would be vertical relative to the ground out of the transmit antennas 22 of the first front end apparatus 10a. 
As shown in FIGS. 2-4, the linear array of receive antennas 24 is arranged perpendicularly relative to the linear array of transmit antennas 22. Thus, waves from the first transmit planar component 41a that are reflected by an object return to the receive antennas 24 of the first receive planar component 43a which is perpendicular relative to the first transmit planar component 41a. These waves do not go through polarization rotators near the second end of the first receive planar component 43a, and propagate through the Rotman lens 43 of the first receive planar component 43a and through the first polarization rotators 56A (i.e., the second section 56c, the iris section 56b and the first section 56a thereof) where the waves become vertical relative to the plane of the Rotman lens 23 of the first receive planar component 43a. The waves thus reach the first receive logic 14a of the first front end apparatus 10a at the same polarization relative to the phased array logic at which the waves were transmitted from the first transmit logic 12a. 
In the second front end apparatus 10b, waves originating from the second transmit logic 12b are polarized to be perpendicular to the plane of the Rotman lens 23 of the second transmit planar component 41b (FIG. 7B) but undergo a 90-degree polarization rotation or twist to become polarized parallel to the plane of the Rotman lens (FIG. 9B) as the waves propagate through the first polarization rotators 56A of the set of first waveguides 52a of the second transmit planar component 41b. Specifically, the waves move through the first polarization rotator 56A (i.e., the first section 56a, the iris section 56b and the second section 56c thereof), and the E-plane of the waves is polarized to be parallel to the plane of the Rotman lens 23 of the second transmit planar component 41b. Thereafter, the polarization of the waves remain unchanged during propagation through the rest of the second transmit planar component 41b, including through the Rotman lens 23, before being transmitted from the transmit antennas 22 of the second front end apparatus 10b. If the second transmit planar component 41b is oriented to be horizontal about the ground, the polarization of the waves would change from vertical to horizontal in the second transmit planar component 41b. 
Thereafter, the receive antennas 24 of the second front end apparatus 10b may detect the waves that were transmitted by the second transmit planar component 41b and reflected by an object. The detection of these waves may be improved by the fact that the second receive planar component 43b includes two set of polarization rotators 56A, 56B. In other words, the waves arriving at the receive antennas 24 may undergo another 90-degree polarization rotation by the second polarization rotators 56B of the set of second waveguides 52b near the second end 46 of the second receive planar component 43b. Specifically, the waves move through the first section 56a, the iris section 56b and the second section 56c (from FIG. 7B to FIG. 9B) of the second polarization rotator 56B near the second end 46 and are polarized to become parallel the plane of the Rotman lens 23 of the receive planar component 43b (or vertical if the second receive planar component 43b is positioned vertically with respect to the ground surface). After these detected waves propagate through the Rotman lens 23 of the receive planar component 43b, the polarization of these waves may undergo yet another 90-degree polarization rotation at the first polarization rotators 56A of the set of first waveguides 52a near the first end 45 of the second receive planar component 43b. Specifically, the waves move through the second section 56c, the iris section 56b, and the first section 56a (from FIG. 9B to FIG. 7B) of the first polarization rotators 56A near the first end 45 and are polarized to become perpendicular to the plane of the Rotman lens 23 of the second receive planar component 43b (i.e., with a horizontal polarization about the ground surface if the second receive planar component 43b is perpendicular to the ground surface). The waves thus reach the second receive logic 14b at the same polarization relative to the phased array logic at which the waves were transmitted from the second transmit logic 12b. 
The expression “90-degree polarization rotation” or other expressions relating to rotating the polarization of the waves by “90-degree” or “90 degrees” are meant to include rotation by 270 degrees, 630 degrees, or the like in the opposite rotational direction or rotation by 450 degrees or the like in the same rotational direction as long as the finally reached position can be reached through a rotation by 90 degrees.
In one example arrangement, the transmit module 40a/40b and the receive module 42a/42b may be configured in a bi-static manner. The bi-static configuration may refer to the working configuration where the receiving module 42 and the transmitting module 40 are separated or not co-located. The illustrated example shows that the vertically arranged receive module 42 is configured to be in a receiving mode while the horizontally arranged transmit module 40 is configured to be in a transmission mode. The bi-static Tx/Rx configuration of the two phased array modules may be fixed or switchable. In some cases, the vertical receive module 42 and horizontal transmit module 40 can be switched such that the vertical module is the transmitter and the horizontal module is the receiver.
If the radar system is in the bi-static Tx/Rx configuration, one or more parameters of the antenna arrays (e.g., gain, directivity) for the receiving and transmitting may be different. Similarly, one or more configurations of the Rotman lens or RF absorbers corresponding to one (transmit/receive) front end may be different from those of the perpendicularly arranged (receive/transmit) front end.
The aforementioned arrangement of two front end apparatuses 10a and 10b in which the two sets of transmitted waves are perpendicular from one another may increase the information bandwidth capacity of the radar system 100 thereby allowing more information to be obtained about any detected objects or obstacles and enabling more accurate identification of these objects or obstacles.
In alternative embodiment (FIG. 10), the front end may feed an array of microstrip patch antennas using microstrip delay-line beamformer. The microstrip patch antennas may be fabricated using printed circuit board technologies. The patch antennas are resonant antennas fed by a true time delay microstrip beamformer without using a lens. An array of Vivaldi antennas may also be connected to the microstrip-based Rotman lens. This may advantageously provide a device with compact and smaller structure, improved accuracy and easy fabrication. In an example receiving module, the patch antennas may be selected (e.g., by selecting patch size and location) such that the patch array operates at the center frequency which is about 78.5 GHz. In some embodiments, the patch array may comprise 32 patches. Those skilled in the art will appreciate that other number of patches that is smaller than or greater than 32 can be utilized.
Obviously, numerous modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described herein.

## Claims

1. A front end of a radar system comprising:
a first front end apparatus including a first transmit planar component and a first receive planar component, the first transmit planar component and the first receive planar component arranged to be perpendicular to one another; and
a second front end apparatus including a second transmit planar component and a second receive planar component, the second transmit planar component and the second receive planar component arranged to be perpendicular to one another, each of the first transmit planar component, the first receive planar component, the second transmit planar component and the second receive planar component including:
a first end;
a second end located opposite the first end, electromagnetic waves propagating in propagation directions between the first end and the second end;
a cavity space bounded by beam ports along a first side of the cavity space and by array ports along a second side of the cavity space, the cavity space being in operative communication with the beam ports and with the array ports to form a Rotman lens; and
a linear array of antennas located along the second end of the planar component, each of the antennas being in operative communication with a corresponding one of the array ports,

wherein the first transmit planar component and the second transmit planar component are parallel to one another, and the first receive planar component and the second receive planar components are parallel to one another, and
wherein a first set of waves are transmitted from the linear array of antennas of the first transmit planar component to be received by the linear array of antennas of the first receive planar component, and a second set of waves are transmitted from the linear array of antennas of the second transmit planar component to be received by the linear array of antennas of the second receive planar component.

2. The front end of claim 1, wherein polarization of the first set of waves transmitted from the linear array of antennas of the first transmit planar component and polarization of the second set of waves are transmitted from the linear array of antennas of the second transmit planar component are perpendicular to one another.

3. The front end of claim 2, wherein each of the first transmit planar component, the second transmit planar component, the first receive planar component and the second receive planar component further includes a set of first waveguides that extend between the first end of the planar component and the beam ports, and a set of second waveguides that extend between the array ports and the second end of the planar component.

4. The front end of claim 3, wherein the set of first waveguides and the set of second waveguides in each of the first front end apparatus and the second front end apparatus include one or more sets of polarization rotators totaling an odd number.

5. The front end of claim 4, wherein the set of first waveguides and the set of second waveguides in the first transmit planar component include one or more sets of polarization rotators totaling an odd number, and the set of first waveguides and the set of second waveguides in the second transmit planar component include one or more sets of polarization rotators totaling an even number or zero.

6. The front end of claim 5, wherein the waves undergo a 90-degree polarization twist while propagating through each set of polarization rotators.

7. The front end of claim 5, wherein each of the polarization rotators includes a first section, an iris section, and a second section in a longitudinal direction,
wherein the first section includes a first set of cuboid obstructions that protrude into the cavity space from opposite height directions such that the first section of the cavity space has a first rectangular cross-section with a first height and a first width, the first height is less than a given height, the first width is equal to a given width, and the first height and the first width are substantially constant throughout the first section in the longitudinal direction,
wherein the iris section includes a diagonal set of cuboid obstructions that protrude into the cavity space from diagonally opposite corners of a reference rectangular cross-section such that a cross-sectional area of the iris section of the cavity space is octagonally shaped and is reduced relative to the reference rectangular cross-section, the cross-sectional area of the iris section is substantially constant in the longitudinal direction,
wherein the second section includes a second set of cuboid obstructions that protrude into the cavity space from opposite width directions such that the second section of the cavity space has a second rectangular cross-section in which a second height and a second width, the second width is less than the given width, the second height is equal to the given height, and the second height and the second width are substantially constant throughout the second section in the longitudinal direction.

8. The front end of claim 7, wherein a gap between one of the cuboid obstructions of the iris section and one of the cuboid obstructions of the second section is 30%-50% of the given width of the reference rectangular cross-section.

9. The front end of claim 7, wherein a length of each of the polarization rotator spanning the first section, the iris section, and the second section is less than 2λ, λ being equal to a wavelength of the waves traveling through the front end.

10. The front end of claim 1, wherein each of the first front end apparatus and the second front end apparatus includes a transmit logic and a receive logic, and each of the transmit planar component and the receive planar component includes near the first end a slot to operatively connect to a correlation logic.

11. The front end of claim 1, wherein each of the first transmit planar component, the second transmit planar component, the first receive planar component and the second receive planar component is formed from a first block and a second block, each of the first block and the second block defines a symmetrical half of the cavity space, the first block and the second block are joined along a junction plane which splits a thickness of the planar component in half.

12. The front end of claim 1, wherein the waves propagate in a Transverse Electric (TE) 10 mode.

13. The front end of claim 1, wherein the antennas of the first transmit planar component and the antennas of the first receive planar component are in a bi-static configuration.

14. The front end of claim 1, wherein the linear array of transmit antennas and the linear array of receive antennas are phased arrays of antennas.

15. An autonomous vehicle comprising the radar system including the front end of claim 1.