Patent Description:
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 modem 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.

<CIT> describes a radar system that includes a transmitting assembly, a receiving assembly, a control unit and a signal processing unit. The transmitting assembly receives an input signal and transmits an incident radar signal. The transmitting assembly includes a Rotman lens having a lens cavity, a plurality of beam ports, a plurality of array ports and a patch antenna assembly. The lens cavity has a lens gap between <NUM> microns to <NUM> microns. The patch antenna assembly includes a plurality of antenna arrays operable to receive a plurality of time-delayed, in-phase signals from the Rotman lens and to transmit the incident radar signal towards a target. The receiving assembly receives a reflected radar signal and produces an output signal. The signal processing unit compares the input signal to the output signal and implements an algorithm determining the range, velocity and position of the target.

A radar system that comprises a transmit front end device and a receive front end device is defined in claim <NUM>.

In an illustrative example, a front end device of a radar system comprises a planar component through which electromagnetic waves propagate. The planar component includes a first end, a second end, a cavity space, and a linear array of antennas. The second end located opposite the first 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 cavity space is further bounded by radio frequency absorbers along a third side and a fourth side of the cavity space. The second side is located opposite the first side, and the fourth side is located opposite the third side. The 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 radio frequency absorbers include triangular teeth having vertices, and the triangular teeth are configured such that lines connecting adjacent vertices are substantially normal to a curvature of a wavefront of the waves in the cavity space.

A method for detecting an object is provided in claim <NUM>.

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:.

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 rangefinding 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, <NUM> 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 -<NUM> dB angle which is defined by the half-power (-<NUM> dB) points. In some embodiments, radar system or phased array system disclosed herein may have a -<NUM> dB beam-width of <NUM> 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> shows a schematic illustration of an example radar system <NUM> having the abovementioned functionalities. The radar system <NUM> may include a millimeter wave radar that emits a low power millimeter wave operating at <NUM>-<NUM> (with a corresponding wavelength of about <NUM>). The radar system can also operate at other frequency range that is below <NUM> or above <NUM>. 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 <NUM> 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 <NUM> 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 highlevel 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 <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, or <NUM> 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 <NUM> to <NUM> 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>, in some embodiments, the radar system <NUM> may comprise a front end 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 processed data (e.g., post correlated data) may further be processed by a signal analysis module <NUM> for object recognition, constructing point cloud image data and other analysis. In some embodiments, a phased array module of the front end <NUM> may comprise a transmit logic <NUM>, receive logic <NUM> and correlation logic <NUM> illustrated in <FIG>. The phased array module and SERDES may include those described in <CIT> entitled "Beam-Forming Reconfigurable Correlator (Pulse Compression Receiver) Based on Multi-Gigabit Serial Transceivers (SERDES)".

For example, the transmit logic <NUM> 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 <NUM>, band pass filter <NUM> and transmit antenna <NUM>, connected as shown or as otherwise known in the art.

The receive logic <NUM> 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 <NUM>, band pass filter <NUM>, low noise amplifier <NUM>, and limiting amplifier <NUM>, connected as shown or as otherwise known in the art.

The correlation logic <NUM> correlates the incoming signals, as received and conditioned by the receive logic <NUM>, with the pulse transmitted by the transmit logic <NUM> (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) <NUM>, correlator <NUM> and waveform generator <NUM>, coupled as shown (e.g., by logic gates of an FPGA or otherwise) or as otherwise evident in view of the teachings hereof.

<FIG> illustrates an embodiment of the invention of a front-end apparatus for a millimeter wave radar. A millimeter wave radar may emit a low power millimeter wave operating at <NUM>-<NUM> (with a corresponding wavelength of about <NUM>). The radar system can also operate at other frequency range that is below <NUM> or above <NUM>. 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 <FIG>, the front-end apparatus may include phased array modules, i.e., a transmit module <NUM> and a receive module <NUM>. Each phased array module may include a front end device and a phased array logic. Specifically, the transmit module may include a transmit front end device 40a and a transmit logic <NUM> while the receive module may include a receive front end device 42b and a receive logic <NUM>. Each of the transmit front end device 40a and the receive front end device 42b includes a planar component such that the transmit front end device 40a and the receive front end device 42b include a transmit planar component <NUM> and a receive planar component <NUM> respectively. <FIG> shows the transmit planar component <NUM> and the receive planar component <NUM> in isolation. Moreover, each of the planar components <NUM>, <NUM> may be operatively connected with the corresponding phased array logic <NUM> or <NUM> by including, for example, a slot <NUM> (<FIG>) to accommodate the corresponding phased array logic.

The planar component <NUM>/<NUM> may be embodied in the form of a rectangular substrate or plate, as shown in <FIG>, and includes a first end 41a/43a and a second end 41b/43b that are located on opposite longitudinal ends of the rectangular substrate. The first end 41a/43a of the planar component <NUM>/<NUM> may be operatively connected to the phased array logic <NUM>/<NUM> at the slot <NUM>, and the second end 41b/43b of the planar component <NUM>/<NUM> includes a linear array of antennas <NUM>/<NUM>. The phased array logic <NUM>/<NUM> may connect to the planar component <NUM>/<NUM> at the slot <NUM> forming a right angle near the first end 41a/43a. The array of transmit antennas <NUM> and the array of receive antennas <NUM> are perpendicular to one another since the transmit planar component <NUM> and the receive planar component <NUM> are arranged to be perpendicular to one another (<FIG>).

The planar component <NUM>/<NUM> may formed from a split block assembly in that the planar component <NUM>/<NUM> is formed by assembling a plurality of blocks. For example, the planar component <NUM>/<NUM> may be formed from half blocks <NUM>/<NUM> that substantially mirror one another along a plane that divides the planar component <NUM>/<NUM> in half thereby forming two symmetrical halves. <FIG> only shows one of the two half blocks <NUM>/<NUM>.

The inner surfaces of the blocks of the planar components <NUM>/<NUM> are formed with recesses or cavities that form the inner structure of the planar components <NUM>/<NUM> as will be described below. The recesses or cavities on the blocks 41a/43a 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 <FIG>, some curved surfaces (i.e., chamfers) may remain on the planar components <NUM>/<NUM> due to the non-zero diameter of the end bit of the CNC milling machine which may be <NUM> mils, for example.

The planar component <NUM>/<NUM> 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 <NUM>/<NUM> may be made of thermoplastics primarily, and be plated or coated with metals (e.g., gold) or metallic alloys to reduce weight.

Phased array module <NUM>/<NUM> includes a phase shifting network in the RF front-end device, with the phase shifting network implemented using a Rotman lens <NUM> (<FIG>) which may be interposed between the phased array logic (the transmit logic <NUM> or the receive logic <NUM>) and the array of multiple transmit antennas <NUM>/<NUM>, as shown in <FIG>. The RF front-end device comprises a phase shifting network (implemented as the Rotman lens <NUM>) and a linear antennas array.

The transmit antennas <NUM> and/or the receive antennas <NUM> can be any suitable type of antennas. For example, the antennas <NUM>/<NUM> may be a microstrip patch array, Vivaldi antennas, slot coupled patches, horns and others. In some embodiments, the antennas <NUM>/<NUM> may be microstrip bipodal vivaldi antennas that are fed by the Rotman lens <NUM>. For example, the antennas array may be coupled to the array ports of the Rotman lens <NUM> on a one-to-one basis.

The Rotman lens <NUM> includes a cavity space, and a perimeter of the cavity space 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 are located on the first side while output ports or array ports 50b are located on the second side of the cavity space. The Rotman lens <NUM> may be configured such that the beam ports 50a are near the first end 41a/43a of the planar component <NUM>/<NUM> while the array ports 50b are near the second end 41b/43b thereof.

If one of the beam ports 50a is excited, the electromagnetic waves will be emitted into the cavity space and will reach a corresponding one of array ports 50b. The shape of contour with the array ports 50b and the length of waveguides <NUM>, which connect the ends 41a/41b/43a/43b of the planar component <NUM>/<NUM> and the ports 50a/50b, are determined so that, a progressive phase taper is created on the array antennas <NUM>/<NUM> and thus a beam is formed at a particular direction in the space.

In the present embodiment, the Rotman lens <NUM> for the transmit front end device 40a has <NUM> beam ports and <NUM> array ports, while the Rotman lens <NUM> for the receive front end device 42b has <NUM> beam ports and <NUM> array ports. Moreover, the front end <NUM> has an azimuth scanning angle of <NUM> degrees and an elevation scanning angle of <NUM> degrees. These values may vary depending on how the Rotman lens <NUM> is embodied. Moreover, the front end <NUM> may include <NUM> transmit antennas and <NUM> receive antennas where the antennas <NUM>, <NUM> are equidistantly spaced apart from one another.

The Rotman lens <NUM> may serve as a robust and low-cost broadband phase shifting network for the disclosed RF front-end devices 40a/42b 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 <NUM> with enhanced focusing functionality to provide the phasing with low power loss.

The third side and the fourth side of the Rotman lens <NUM> may include dummy ports or sidewall absorbers 50c, 50d, such as radio frequency absorbers, are formed to suppress reflections from the sides of the Rotman lens. The radio frequency absorbers may be made of wave absorbing materials such as Eccosorb® MCS, LS26 or BSR.

<FIG> and <FIG> illustrate embodiments of the Rotman lens <NUM> with jagged sidewall absorbers 50c, 50d. Sidewall absorbers 50c, 50d having shapes shown in <FIG> 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>, these triangular teeth <NUM> may be formed such that the imaginary lines <NUM> extending between adjacent vertices of the triangular teeth <NUM> pointing into the cavity space of the Rotman lens <NUM>, 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 <NUM> thereby allowing for an effective dissipation by the sidewall absorbers 50c, 50d, as observable in <FIG>.

The properties of a sidewall absorber 50c/50d may be tested on a fixture <NUM> a simulated embodiment of which is illustrated in <FIG>. The properties of a sidewall absorber 50c/50d may be tested on the fixture <NUM> 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>. Specifically, by emitting waves through the slot <NUM> towards the triangular teeth <NUM> of a sidewall absorber 50c/50d secured in a depression of the fixture <NUM> and measuring the amount of reflection from the triangular teeth <NUM>, it is possible to test the effectiveness of the sidewall absorber 50c/50d.

As shown in <FIG>, the Rotman lens <NUM> can be implemented using waveguides, microstrip, stripline technologies or any combination of the above. In some embodiments, the Rotman lens may be microstrip-based Rotman lens. In some embodiments, the Rotman lens <NUM> may be a waveguide-based Rotman lens. In some cases, waveguides may be used in place of transmission lines.

In the embodiment of <FIG>, the planar component <NUM>/<NUM> further includes waveguides <NUM> between the first end 41a/43a and the beam ports 50a and between the array ports 50b and the second end 41b/43b. The waveguides <NUM> may be embodied as rectangular waveguides integrated into the planar component <NUM>/<NUM> such that the waveguides <NUM> form walls that guide the propagation of electromagnetic waves through the planar component <NUM>/<NUM> during transmission or reception of antenna signals from the first end 41a to the second end 41b or vice versa.

Each of the waveguides <NUM> may provide a hollow space through which the electromagnetic waves propagate. While <FIG> show only one half of the hollow space of the waveguides <NUM>, the hollow space of the half blocks <NUM>/<NUM> may form an enclosed space that extends along the planar component <NUM>/<NUM> and may take on various geometries to affect the polarization of the waves at different locations of the front end device 40a/42b.

Specifically, the shape of the cross-section of the hollow space may be described based on a reference rectangular cross-section <NUM> with a given width in the width directions and a given height in the height directions. The waveguide <NUM> may include a section where the cross-section of the hollow space is as large as the reference rectangular cross-section <NUM> or smaller than the reference rectangular cross-section <NUM> as will be described below.

Each of the waveguides <NUM> of the Rotman lens <NUM> may further include a polarization rotator <NUM> to control the polarization of the waves out of and into the phased array logics. <FIG> show an example embodiment of the polarization rotator <NUM> integrated onto the waveguides <NUM>. The polarization rotator <NUM> 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 <NUM>/<NUM>.

<FIG> shows an inner side of a half block <NUM> of the transmit planar component <NUM> where the polarization rotator <NUM> is formed near the first end 41a. The polarization rotator <NUM> may be similarly formed near the first end 43a of the receive planar component <NUM>. In the first section 56a of the polarization rotator <NUM> (<FIG>), the waveguide <NUM> 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 <NUM> 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 <NUM>. 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 <NUM> (<FIG>), the waveguide <NUM> 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 <NUM> 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> shows a cross-section across the iris section 56b of the polarization rotator <NUM> observed from the viewpoint of the first section 56a such that the second section 56c is visible behind the iris section 56b while <FIG> shows a cross section across the iris section 56b of the polarization rotator <NUM> 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 <NUM> (<FIG>), the waveguide <NUM> 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 <NUM> 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 <NUM> (<FIG>). 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>) 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 <NUM> in. , <NUM> in. , and <NUM> 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>. In one embodiment of the iris section <NUM>, 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>, S11 has a minima of about -<NUM> dB at <NUM> while S21 has a maxima of about - <NUM> 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 <NUM>. The process for tuning should be to pick nominal values for the three aforementioned parameters. Nominal values are based on the waveguide <NUM> selected and are typically ¼ to <NUM> 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 <NUM>-<NUM>% of the long dimension of the waveguide <NUM>. 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 <NUM>.

As shown in <FIG>, the waveguides <NUM> extending between the first end 41a/43a and the beam ports 50a of the Rotman lens <NUM> may form a first set of waveguides 52a in the transmit planar component <NUM> and the receive planar component <NUM>. Each waveguide in the first set of waveguides 52a may further include one or more polarization rotator(s) <NUM>. In the present embodiment of the front end <NUM>, each waveguide in the first set of waveguides 52a in the transmit planar component <NUM> and the receive planar component <NUM> includes a first polarization rotator 56A where the first section 56a of the first polarization rotator <NUM> is located nearer the first end 41a than the second section 56c thereof.

As further shown in <FIG>, the waveguides <NUM> extending between the second end 41b/43b and the array ports 50b of the Rotman lens <NUM> in the transmit planar component <NUM> and in the receive planar component <NUM> may form a second set of waveguides 52b. Each waveguide <NUM> in the second set of waveguides 52b in the receive planar component <NUM> may further include one or more polarization rotator <NUM>. In the present embodiment of the front end <NUM>, each waveguide in the second set of waveguides 52b in the receive planar component <NUM> includes a second polarization rotator 56B which is positioned adjacent the array of antennas <NUM>/<NUM> and in which the first section 56a of the polarization rotators <NUM> is nearer the second end 43b than the second section 56c thereof.

The electromagnetic waves propagating through the present apparatus may be in the Transverse Electric (TE) <NUM> mode. The polarization of the waves may be altered by the polarization rotators <NUM> located throughout the transmit front end device 40a and the receive front end device 42b.

Waves originating from the transmit logic <NUM> are polarized to be perpendicular to the plane of the Rotman lens <NUM> (<FIG>) but undergo a <NUM>-degree polarization rotation or twist to become polarized parallel to the plane of the Rotman lens (<FIG>) as the waves propagate through the first polarization rotators 56A of the first set of waveguides 52a of the transmit planar component <NUM>. 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 <NUM> of the transmit planar component <NUM>. Thereafter, the polarization of the waves may be unchanged by propagation through the rest of the transmit front end device 40a, including the Rotman lens <NUM>, before being transmitted from the transmit antennas <NUM>. If the transmit planar component <NUM> is oriented to be horizontal about the ground, the polarization of the waves would change from vertical to horizontal in the transmit front end device 40a.

As shown in <FIG>, the linear array of receive antennas <NUM> is arranged perpendicularly relative to the linear array of transmit antennas <NUM>. Despite this configuration, the receive antennas <NUM> of the receive front end device 42b may detect the waves that were horizontally polarized and were transmitted by the transmit front end device 40a. The detection of these waves may be improved by the fact that the receive front end device 42b includes two set of polarization rotators 56A, 56B. In other words, the waves arriving at the receive antennas <NUM> may undergo another <NUM>-degree polarization rotation by the second polarization rotators 56B of the second set of waveguides 52b in the receive planar component <NUM>. Specifically, the waves move through the first section 56a, the iris section 56b and the second section 56c (from <FIG>) of the second polarization rotator 56B and are polarized to become parallel the plane of the Rotman lens <NUM> of the receive planar component <NUM> (or vertical if the receive planar component <NUM> is positioned vertically about the ground surface). After these detected waves propagate through the Rotman lens, the polarization of these waves may undergo yet another <NUM>-degree polarization rotation at the first polarization rotators 56A of the first set of waveguides 52a of the receive planar component <NUM>. Specifically, the waves move through the second section 56c, the iris section 56b, and the first section 56a (from <FIG>) of the first polarization rotators 56A and are polarized to become perpendicular to the plane of the Rotman lens <NUM> of the receive planar component <NUM><NUM> (i.e., with a horizontal polarization about the ground surface if the receive front end device is perpendicular to the ground surface). The waves thus reach the receive logic <NUM> at the same polarization relative to the phased array logic at which the waves were transmitted from the transmit logic <NUM>.

The first set of waveguides 52a in the transmit planar component <NUM>, the second set of waveguides 52b in the receive planar component <NUM>, and the first set of waveguides 52a in the receive planar component <NUM> make up the three sets of waveguides <NUM> that include polarization rotators <NUM> in the present embodiment of the front end <NUM>. Thus, the waves undergo three <NUM>-degree polarization rotations or twists during propagation through the transmit front end device 40a and the receive front end device 42b.

However, the number of sets of waveguides <NUM> including polarization rotators <NUM> may be a different odd number such as one or seven. In an alternative embodiment of the front end <NUM>, there could be polarization rotators <NUM> in the first set of waveguides <NUM> on the transmit planar component <NUM> only and none on the receive planar component <NUM> such that the total number of sets of waveguides including polarization rotators <NUM> is one, for example.

Alternatively, while each waveguide in the aforementioned sets of waveguides <NUM> includes a single polarization rotator <NUM>, it is possible for one waveguide <NUM> to have more than one polarization rotator <NUM>. For example, each of the first set of waveguides 52a extending between the first end 41a and the beam ports 50a in the transmit planar component <NUM> may include two polarization rotators <NUM> (e.g., a first polarization rotator 56A and a second polarization rotator 56B in order of wave propagation), each of the second set of waveguides 52b extending between the array ports 50b and the second end 41b in the transmit planar component <NUM> may include one polarization rotator <NUM> (e.g., a first polarization rotator 56A), each the second set of waveguides 52b extending between the second end 43b and the array ports 50b in the receive planar component <NUM> may include two polarization rotators <NUM> (e.g., a second polarization rotator 56B and a first polarization rotator 56A in order of wave propagation), and each the first set of waveguides 52a extending between the beam ports 50a and the first end 43a of the receive planar component <NUM> may include two polarization rotators <NUM> (e.g., a second polarization rotator 56B and a first polarization rotator 56A in order of wave propagation). In such an alternative arrangement of the polarization rotators <NUM>, there would be a total of seven <NUM>-degree polarization rotations or twists during propagation through the transmit front end device 40a and the receive front end device 42b.

The expression "<NUM>-degree polarization rotation" or other expressions relating to rotating the polarization of the waves by "<NUM>-degree" or "<NUM> degrees" are meant to include rotation by <NUM> degrees, <NUM> degrees, or the like in the opposite rotational direction or rotation by <NUM> degrees or the like in the same rotational direction as long as the finally reached position can be reached through a rotation by <NUM> degrees.

In one example arrangement of the front end <NUM>, the transmit module <NUM> and the receive module <NUM> may be configured in a bi-static manner. The bi-static configuration may refer to the working configuration where the receiving module <NUM> and the transmitting module <NUM> are separated or not co-located. The illustrated example shows that the vertically arranged receive module <NUM> is configured to be in a receiving mode while the horizontally arranged transmit module <NUM> 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 <NUM> and horizontal transmit module <NUM> 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 device may be different from those of the perpendicularly arranged (receive/transmit) front-end device.

Claim 1:
A front end (<NUM>) of a radar system comprising:
a transmit front end device (40a) including a transmit planar component (<NUM>); and
a receive front end device (42b) including a receive planar component (<NUM>), each of the transmit planar component and the receive planar component including:
a first end (41a, 43a);
a second end (41b, 43b) located opposite the first end, electromagnetic waves propagating in propagation directions between the first end and the second end; and
a cavity space bounded by beam ports (50a) along a first side of the cavity space and by array ports (50b) along a second side of the cavity space, the cavity space being in operative communication with the beam ports (50a) and with the array ports (50b) to form a Rotman lens (<NUM>);
characterized in that each of the transmit planar component and the receive planar component also includes
a linear array of antennas (<NUM>, <NUM>) 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 transmit planar component and receive planar component are arranged such that the linear array of antennas (<NUM>) of the transmit planar component and the linear array of antennas (<NUM>) of the receive planar component are perpendicular to one another.