PATENT DOCUMENT

Publication Number: US-10446938-B1
Application Number: US-201615339513-A
Country: US
Kind Code: B1

Title: Radar system including dual receive array

Abstract:
Aspects of the present disclosure involve a radar system employing dual receive antenna arrays. The radar system may include a transmit antenna array to emit a radar beam toward a selected portion of a field of view, as well as a vertical receive antenna array and a horizontal receive antenna array. Each of the receive antenna arrays may include a plurality of antenna elements grouped into sub-arrays that may be configured to receive scatter signals from the selected portion, such as by way of beamforming. The received scatter signals may be combined within each sub-array to generate combined scatter signals, which may then be digitized. A signal data processor may then digitally process the digitized signals from the first sub-arrays and from the second sub-arrays, and correlate the digitally processed signals to generate detection information for each of a plurality of sub-portions of the selected portion.

Claims:
What is claimed is: 
     
       1. A radar system comprising:
 a transmit antenna array to emit a radar beam toward a selected portion of a field of view; 
 a vertical receive antenna array comprising a plurality of first antenna elements grouped into first sub-arrays, each of the first sub-arrays to receive scatter signals caused by the radar beam from the selected portion of the field of view; 
 a first circuitry to combine the received scatter signals from each of the first sub-arrays into a first combined scatter signal for each of the first sub-arrays, and to digitize the first combined scatter signals into first digitized scatter signals; 
 a horizontal receive antenna array comprising a plurality of second antenna elements grouped into second sub-arrays, each of the second sub-arrays to receive the scatter signals; 
 a second circuitry to combine the received scatter signals from each of the second sub-arrays into a second combined scatter signal for each of the second sub-arrays, and to digitize the second combined scatter signals into second digitized scatter signals; and 
 a signal data processor to digitally process the first digitized scatter signals to generate vertical detection information corresponding to the vertical receive antenna array, to digitally process the second digitized scatter signals to generate horizontal detection information corresponding to the horizontal receive antenna array, and to correlate the vertical detection information and the horizontal detection information to generate detection information for each of a plurality of sub-portions of the selected portion of the field of view. 
 
     
     
       2. The radar system of  claim 1 , the transmit antenna array comprising a two-dimensional phased antenna array comprising a plurality of third antenna elements, the at least one of the third antenna elements comprising a patch antenna. 
     
     
       3. The radar system of  claim 2 , wherein the vertical receive antenna array is positioned orthogonally to the horizontal receive antenna array. 
     
     
       4. The radar system of  claim 1 , at least one of the first antenna elements and the second antenna elements comprising a patch antenna. 
     
     
       5. The radar system of  claim 1 , each of the first circuitry and the second circuitry comprising beamforming circuitry to direct each of the first sub-arrays and each of the second sub-arrays toward the selected portion of the field of view. 
     
     
       6. The radar system of  claim 5 , the beamforming circuitry comprising one of a phase-shifter and a delay element for each of the first and second antenna elements. 
     
     
       7. The radar system of  claim 1 , further comprising beamforming circuitry to adjust the transmit antenna array to direct the radar beam toward the selected portion of the field of view. 
     
     
       8. The radar system of  claim 7 , the beamforming circuitry comprising one of a phase-shifter and a delay element for each of a plurality of the third antenna elements of the transmit antenna array. 
     
     
       9. The radar system of  claim 8 , the signal data processor to perform a Fast Fourier Transform (FFT) across the first digitized scatter signals and across the second digitized scatter signals to generate the vertical detection information and the horizontal detection information. 
     
     
       10. The radar system of  claim 1 , further comprising a beamforming circuit to cause the transmit antenna array to emit the radar beam toward a next selected portion of the field of view different from the selected portion of the field of view. 
     
     
       11. The radar system of  claim 1 , the signal data processor to generate the detection information for each of the plurality of sub-portions of the selected portion of the field of view simultaneously. 
     
     
       12. The radar system of  claim 1 , a number of the plurality of sub-portions being equal to a number of the first sub-arrays multiplied by a number of the second sub-arrays. 
     
     
       13. A method of operating a radar system, the method comprising:
 emitting a radar beam toward a selected portion of a field of view; 
 receiving scatter signals caused by the radar beam from the selected portion of the field of view at a vertical receive antenna array comprising a plurality of first antenna elements grouped into first sub-arrays; 
 combining the received scatter signals from each of the first sub-arrays into a first combined scatter signal for each of the first sub-arrays 
 digitizing the first combined scatter signals into first digitized scatter signals; 
 receiving the scatter signals from the selected portion of the field of view at a horizontal receive antenna array comprising a plurality of second antenna elements grouped into second sub-arrays; 
 combining the received scatter signals from each of the second sub-arrays into a second combined scatter signal for each of the second sub-arrays; 
 digitizing the second combined scatter signals into second digitized scatter signals; 
 digitally processing the first digitized scatter signals to generate vertical detection information; 
 digitally processing the second digitized scatter signals to generate horizontal detection information; and 
 correlating the vertical detection information and the horizontal detection information to generate detection information for each of a plurality of sub-portions of the selected portion of the field of view. 
 
     
     
       14. The method of  claim 13 , the transmit antenna array comprising a two-dimensional phased antenna array comprising a plurality of third antenna elements, the method further comprising phase-shifting a signal provided to at least one of the plurality of third antenna elements to direct the radar beam to the selected portion of the field of view. 
     
     
       15. The method of  claim 14 , further comprising phase-shifting the signal provided to at least one of the plurality of third antenna elements to direct the radar beam to a second selected portion of the field of view different from the first selected portion. 
     
     
       16. The method of  claim 13 , further comprising phase-shifting a signal provided to at least one of the first antenna elements of each of the first sub-arrays and a signal provided to at least one of the second antenna elements of each of the second sub-arrays to direct each of the first sub-arrays and each of the second sub-arrays toward the selected portion of the field of view. 
     
     
       17. The method of  claim 13 , the digital processing of the first digitized scatter signals and the second digitized scatter signals comprising performing a Fast Fourier Transform (FFT) across the first digitized scatter signals and performing the FFT across the second digitized scatter signals. 
     
     
       18. The method of  claim 13 , the digital processing of the first digitized scatter signals and the second digitized scatter signals to generate the vertical detection information simultaneously and to generate the horizontal detection information simultaneously. 
     
     
       19. The method of  claim 13 , a number of the plurality of sub-portions being equal to a number of the first sub-arrays multiplied by a number of the second sub-arrays. 
     
     
       20. A radar system comprising:
 a transmit phased antenna array to emit a radar beam; 
 a first beamforming circuit to steer the radar beam toward a selected portion of a field of view; 
 a vertical receive antenna array comprising a plurality of first antenna elements grouped into first sub-arrays; 
 a second beamforming circuit to cause each of the first sub-arrays to receive scatter signals caused by the radar beam from the selected portion of the field of view; 
 a first analog combiner circuit to combine the received scatter signals from each of the first sub-arrays into a first combined scatter signal for each of the first sub-arrays; 
 a first digitizer circuit to digitize the first combined scatter signals into first digitized scatter signals; 
 a horizontal receive antenna array comprising a plurality of second antenna elements grouped into second sub-arrays, the horizontal receive antenna array positioned orthogonally to the vertical receive antenna array; 
 a third beamforming circuit to cause each of the second sub-arrays to receive the scatter signals; 
 a second analog combiner circuit to combine the received scatter signals from each of the second sub-arrays into a second combined scatter signal for each of the second sub-arrays; 
 a second digitizer circuit to digitize the second combined scatter signals into second digitized scatter signals; and 
 a signal data processor to digitally process the first digitized scatter signals to generate vertical detection information corresponding to the vertical receive antenna array, to digitally process the second digitized scatter signals to generate horizontal detection information corresponding to the horizontal receive antenna array, and to correlate the vertical detection information and the horizontal detection information to generate detection information for each of a plurality of sub-portions of the selected portion of the field of view, the detection information including a range to an object in the field of view, and angle including azimuth and elevation to the object in the field of view, a velocity of the object in the field of view, or micro-Doppler information of the object in the field of view.

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is related to and claims priority under 35 U.S.C. § 119(e) from U.S. Patent Application No. 62/387,113, filed Dec. 23, 2015 entitled “RADAR SYSTEM INCLUDING DUAL RECEIVE ARRAY,” the entire contents of which is incorporated herein by reference for all purposes. 
    
    
     TECHNICAL FIELD 
     This disclosure relates generally to radar systems, and more specifically to radar systems including dual receive arrays. 
     BACKGROUND 
     Radar systems have evolved over several decades beyond the military, aeronautical, meteorological, and similar applications with which these systems are often identified. As a result, many more recent radar systems intended for newer applications or environments typically provide low-to-moderate performance compared to some older radar installations to accommodate limiting of the overall radar system size, weight, power, and cost (sometimes referred to as SWaP-C) for such newer applications. 
     SUMMARY 
     In one example, a radar system may comprise a transmit antenna array to emit a radar beam toward a selected portion of a field of view. The system may further include a vertical receive antenna array including a plurality of first antenna elements grouped into first sub-arrays. Each of the first sub-arrays receives scatter signals caused by the radar beam from the selected portion of the field of view. A first circuitry, which may be provided by a microcontroller, ASIC, processor, dedicated circuitry and the like, combines the received scatter signals from each of the first sub-arrays into a first combined scatter signal for each of the first sub-arrays. The first circuitry also may digitize the first combined scatter signals into first digitized scatter signals. The system further includes a horizontal receive antenna array, which may be orthogonally positioned relative to the vertical receive antenna array, that comprises a plurality of second antenna elements grouped into second sub-arrays where each of the second sub-arrays receive the scatter signals. The system further includes second circuitry, which may be of similar microcontroller, etc., forms as the first circuitry, combines the received scatter signals from each of the second sub-arrays into a second combined scatter signal for each of the second sub-arrays. Depending on the implementation, the first and second circuitry may be realized in a single processor, microcontroller or the like, or may otherwise utilize common components. The second circuitry also may digitize the second combined scatter signals into second digitized scatter signals. The system further includes a signal data processor to digitally process the first digitized scatter signals to generate vertical detection information corresponding to the vertical receive antenna array, to digitally process the second digitized scatter signals to generate horizontal detection information corresponding to the horizontal receive antenna array, and to correlate the vertical detection information and the horizontal detection information to generate detection information for each of a plurality of sub-portions of the selected portion of the field of view. 
     In another example, a method of operating a radar system involves emitting a radar beam toward a selected portion of a field of view and receiving scatter signals caused by the radar beam from the selected portion of the field of view at a vertical receive antenna array comprising a plurality of first antenna elements grouped into first sub-arrays. The method further includes combining the received scatter signals from each of the first sub-arrays into a first combined scatter signal for each of the first sub-arrays. The first combined scatter signals may then be digitized into first digitized scatter signals. The method further includes receiving the scatter signals from the selected portion of the field of view at a horizontal receive antenna array comprising a plurality of second antenna elements grouped into second sub-arrays. The method also includes combining the received scatter signals from each of the second sub-arrays into a second combined scatter signal for each of the second sub-arrays and digitizing the second combined scatter signals into second digitized scatter signals. The method may further involve digitally processing the first digitized scatter signals to generate vertical detection information and the second digitized scatter signals to generate horizontal detection information. Finally, the method may include correlating the vertical detection information and the horizontal detection information to generate detection information for each of a plurality of sub-portions of the selected portion of the field of view. 
     In another example, a radar system may comprise a transmit phased antenna array to emit a radar beam, and a first beamforming circuit to steer the radar beam toward a selected portion of a field of view. The system may further include a vertical receive antenna array comprising a plurality of first antenna elements grouped into first sub-arrays and a second beamforming circuit to cause each of the first sub-arrays to receive scatter signals caused by the radar beam from the selected portion of the field of view. The system may further include a first analog combiner circuit to combine the received scatter signals from each of the first sub-arrays into a first combined scatter signal for each of the first sub-arrays and a first digitizer circuit to digitize the first combined scatter signals into first digitized scatter signals. The system may further include a horizontal receive antenna array comprising a plurality of second antenna elements grouped into second sub-arrays where the horizontal receive antenna array is positioned orthogonally to the vertical receive antenna array. The system may also include a third beamforming circuit to cause each of the second sub-arrays to receive the scatter signals and a second analog combiner circuit to combine the received scatter signals from each of the second sub-arrays into a second combined scatter signal for each of the second sub-arrays, and a second digitizer circuit to digitize the second combined scatter signals into second digitized scatter signals. The system also may include a signal data processor to digitally process the first digitized scatter signals to generate vertical detection information corresponding to the vertical receive antenna array, to digitally process the second digitized scatter signals to generate horizontal detection information corresponding to the horizontal receive antenna array, and to correlate the vertical detection information and the horizontal detection information to generate detection information for each of a plurality of sub-portions of the selected portion of the field of view. 
     The detection information may include, one or more of, a range to an object in the field of view, an angle including azimuth and elevation to the object in the field of view, a velocity of the object in the field of view, and micro-Doppler information of the object in the field of view. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram of an example radar system employing dual receive arrays to provide azimuth and elevation information. 
         FIG. 2  is a block diagram of an example transmit array circuit for the example radar system of  FIG. 1 . 
         FIG. 3  is a block diagram of an example receive array circuit for the example radar system of  FIG. 1 . 
         FIGS. 4A through 4D  are graphical depictions relating individual antenna elements and associated sub-arrays of example receive antenna arrays of the example radar system of FIG. 
         FIG. 5  is a graphical depiction of a scanning pattern of an example transmit phased antenna array of the radar system of  FIG. 1 . 
         FIG. 6  is a flow diagram of an example method of operating the example radar system of  FIG. 1 . 
         FIG. 7  is a block diagram of an example multiple-radar system employing the example radar system of  FIG. 1  to facilitate multiple fields of view. 
         FIG. 8  is a block diagram of an example hardware environment in which the example radar system of  FIG. 1  may operate. 
         FIG. 9  is a block diagram of an example signal data processor of the example radar system of  FIG. 1 . 
         FIG. 10  is a functional block diagram of an electronic device including operational units arranged to perform various operations of the presently disclosed technology. 
         FIG. 11  is an example computing system that may implement various systems and methods of the presently disclosed technology. 
     
    
    
     DETAILED DESCRIPTION 
     Aspects of the present disclosure involve radar systems including dual receive arrays and methods for operating such radar systems. In at least some embodiments, an example radar system includes a horizontal receive array for generating azimuth information, and a separate vertical receive array for generating elevation information. In examples discussed in more detail below, greater radar range, field of view, resolution, and accuracy may result while limiting overall system size and cost. 
     In the embodiments described below, the terms “vertical” and “horizontal” are employed to refer to receive antenna arrays oriented substantially orthogonally to each other. Accordingly, the terms “vertical” and “horizontal,” in some contexts, may not be interpreted relative to the direction of gravitational forces, but may instead utilize a different frame of reference for those directions. 
       FIG. 1  is a block diagram of an example radar system  100  that includes a vertical receive antenna array  102  that facilitates the generation of elevation information, and a horizontal receive antenna array  104  that facilitates the generation of azimuth information. In at least some examples, the vertical receive antenna array  102  and the horizontal receive antenna array  104  include antenna elements  101 ,  103  arranged linearly, although other configurations that are not strictly linear are possible in other embodiments. Further, the combination of the receive antenna array  102  and the horizontal receive array  104  may also provide both range and velocity information. Thus, when operated as described in greater detail below, the radar system  100  may generate four-dimensional (4D) information to facilitate high resolution, high accuracy detection and tracking of potential objects or targets. 
     The radar system  100  may include a transmit phased antenna array  106  to generate the radar transmit signals to be received by the vertical receive antenna array  102  and the horizontal receive antenna array  104 . The transmit phased antenna array  106  may be operated in an active electronically scanned array (AESA) mode (or, alternatively, in APAR (active phased array radar) mode) typical of high-end radar systems. When operating in such a mode, the transmit phased antenna array  106  may “steer” (both in azimuth and elevation) the transmission beam over the field of view of the radar system  100  and over time by way of constructive and destructive interference between the individual beams emitted by the individual antenna elements  105  of the transmit phased antenna array  106 . Such steering and narrowing of the beam may contribute to the overall range and accuracy of the radar system  100 . Other examples of the transmit antenna array  106  may not be strictly a phased antenna array while still providing the functionality described herein. In one example, each of the antenna elements  105  may be a rectangular microstrip, or “patch,” antenna arranged in a two-dimensional plane. However, other types of antenna elements  105 , as well as other configurations for the antenna elements  105  within the transmit phased antenna array  106 , may be employed in other embodiments. 
     To generate the radio frequency (RF) signals to be transmitted by each of the antenna elements  105 , the radar system  100  may include a waveform generation generator  130  controlled by one or more control circuits  140 , such as one or more digital signal processors (DSPs), microprocessors, and/or other electronic circuits, that may generate a baseband signal that is subsequently processed (e.g., amplified, phase-shifted, up-converted in frequency, and/or so on) at multiple transmit beamforming networks  126  to produce the signals to be transmitted by the individual array elements  105 . An example of the transmit beamforming networks  126  is discussed more fully below in conjunction with  FIG. 2 . In some examples, individual transmit/receive (T/R) modules  128  often employed in other AESA radar systems may be utilized to further condition the signals from the transmit beamforming networks  126 , such as to enable or disable the beams, perform additional signal conditioning (e.g., amplification and/or filtering), and the like. 
     Scatter signals from objects or targets within the field of the radar system  100  resulting from the steered beam transmitted by the transmit phased antenna array  106  may then be received at the vertical receive antenna array  102  and the horizontal receive antenna array  104 . As with the transmit phased antenna array  106 , individual antenna elements  101  of the vertical receive antenna array  102  and individual antenna elements  103  of the horizontal receive antenna array  104  may be patch antennas, although other types of antenna types may be utilized in other examples. The antenna elements  101  and  103  of the vertical receive antenna array  102  and the horizontal receive antenna array  104  may be arranged as a one-dimensional linear array in at least some embodiments. 
     Continuing with  FIG. 1 , the antenna elements  101  and  103  of the vertical receive antenna array  102  and the horizontal receive antenna array  104  may receive their individual operating signals from corresponding vertical receive beamforming networks  122  and horizontal receive beamforming networks  124 . In an example, each of the vertical receive beamforming networks  122  and the horizontal receive beamforming networks  124  may be controlled by the control circuits  140  mentioned above to effectively steer the direction from which the scatter signals may be detected. 
     In the particular example of  FIG. 1 , the antenna elements  101  of the vertical receive antenna array  102  may be grouped into sub-arrays  112 , while the antenna elements  103  of the horizontal receive antenna array  104  may be grouped into sub-arrays  114 , with the signals being received by each antenna element  101  and  103  of each sub-array  112  and  114  being combined and/or otherwise processed (e.g., amplified, phase-shifted, and/or the like) in an analog fashion within the vertical receive beamforming networks  122  and the horizontal receive beamforming networks  124 , respectively. As is described in greater detail hereinafter, such combining within each sub-array  112  and  114  may serve to increase the accuracy and resolution of object detection of the radar system  100 . 
     A receiver circuit  132  may then receive each of the processed signals generated by the vertical receive beamforming networks  122  and the horizontal receive beamforming networks  124 , down-convert the signals to baseband using one or more signals from the waveform generator  130 , and further process (e.g., amplify, filter, digitize, and/or so on) the signals to provide multiple channels of digital data representing the scatter signals received at the vertical receive antenna array  102  and the horizontal receive antenna array  104 , with each channel being associated with a particular sub-array  112  and  114 . In some embodiments, each instance of digital data on each channel may represent a sample or “snapshot” of the combined signal received from each sub-array  112  and  114 . In an example, the waveform generator  130  provides to the receivers  132  a copy of the same signal sent to the transmit beamforming networks  126 , thus coordinating the timing of the receivers  132  with the transmit beamforming networks  126 . However, in other examples, the signal sent to the receivers  132  may be different, but still may include such timing information. An example of the vertical receive beamforming networks  122 , the horizontal receive beamforming networks  124 , and the receivers  132  is described more fully below in connection with  FIG. 3 . 
     The waveform generator  130 , in some examples, may provide a sinusoidal waveform, a pseudo-random waveform, a frequency-modulated continuous waveform, or some other type of waveform that provides useful signals for the generation and reception of radar signals via the components of the radar system  100  described above. In one example, the waveform generator  130  may include a baseband waveform generator coupled with a phase-locked loop (PLL)-based RF signal generator so that the waveform generator  130  may provide the generated RF signal and/or baseband signal to the transmit beamforming network  126  and the receivers  132 . In some examples, timing signals to operate the waveform generating  130 , such as to facilitate the generation of the baseband signal, may be provided by the control circuits  140 , which are described more completely below. 
     Further in  FIG. 1 , a signal data processor  134  may receive the digital data signals generated by the receivers  132  and digitally process the digital data to determine a range, angle (e.g., azimuth and/or elevation), velocity, and/or micro-Doppler information of each potential object detected within the field of view of the radar system  100 . Such processing may include, for example, a Fast Fourier Transform (FFT) calculated across all of the channels associated with each of the vertical receive antenna array  102  and the horizontal receive antenna array  104 . Such processing may also include, for example, a time-frequency analysis to extract micro-Doppler information of objects to better classify those objects. In one example, the signal data processor  134  may include a digital signal processor (DSP), microprocessor, and/or other digital circuitry. 
     The signal data processor  134  may then provide the generated object information to an environment model/tracker  136 , which may track each potential object from scan to scan performed within the field of view of the radar system  100  to provide an updated indication of the current location, direction, speed, shape, and/or micro-Doppler of one or more objects within the environment of the radar system  100 . As with the signal data processor, the environment model\tracker  136  may include a DSP, microprocessor, and/or other digital circuitry. 
     As depicted in  FIG. 1 , the control circuits  140  may include, in one example, a power management control circuit  142 , a timing control circuit  144 , a communications control circuit  146 , and a logistics control circuit  148 . However, other embodiments of the control circuits  140  may include greater or fewer numbers of control circuits than those illustrated in  FIG. 1 , possibly including control circuits not specifically discussed herein. Moreover, the control circuits  140  may be implemented using dedicated digital and/or analog electronic circuitry. In some examples, the control circuit  140  may include one or more microcontrollers, microprocessors, and/or digital signal processors (DSPs) configured to execute instructions stored in a memory device or system to perform the various operations described herein. 
     While the control circuits  140  are depicted in  FIG. 1  as employing separate circuits  142 ,  144 ,  146 , and  148 , such circuits may be combined at least partially. Moreover, the control circuits  140  may be combined with other control circuits described hereafter. Additionally, the control circuits disclosed herein may be apportioned or segmented in other ways not specifically depicted herein while retaining their functionality, and communication may occur between the various control circuits in order to perform the functions discussed herein. 
     In an example, the power management control circuit  142  may control the availability, level, and/or other characteristics of the power provided to the remainder of the radar system  100 . The timing control circuit  144  may provide timing and other control signals utilized by the waveform generator  130 , receivers  132 , vertical receive beamforming networks  122 , horizontal beamforming networks  124 , transmit beamforming networks  126 , and/or T/R modules  128 . The communications control circuit  146  may facilitate communication between the signal data processor  134 , environment model/tracker  136 , and/or other portions of the radar system  100  with one or more other controllers or systems, such as by way of a communication interface or network. Such other systems may include additional object detection systems, as well as other systems that may coordinate with the radar system  100  to perform one or more functions or tasks. Additionally, such systems may further include a central fusion unit that may combine information from multiple sensors. The logistics control circuit  148  may perform one or more logistical functions, such as built-in self-test functionality, error logging, and the like. 
       FIG. 2  is a block diagram of an example transmit array circuit  200  for the radar system  100  of  FIG. 1 . In this example, the circuit  200  includes examples of the transmit beamforming networks  126  and the transmit phased antenna array  106 , shown in conjunction with the waveform generator  130  of  FIG. 1 . As shown in  FIG. 1 , the transmit phased antenna array  106  may be an M×N array, with each of the antenna elements  105  being positioned at a corresponding position within the array, such as row 1, column 1 (1,1), row 1, column 2 (1, 2), and so on, up to column M, row N (M, N). 
     In this example, an RF signal from the waveform generator  130  is provided as input to a power divider  202  of the transmit beamforming networks  126  to divide the power of the RF signal equally, or substantially equally, to provide the RF signal to each of a plurality of separate beamforming networks  126  associated with a respective one of the antenna elements  105  of the transmit phase antenna array  106 . In the particular example of  FIG. 2 , each network  126  may include a variable gain amplifier (VGA)  204  that may be used to reduce or amplify the amplitude of the incoming signal from the power divider  202 . The output of the VGA  204  may then be provided to a variable phase shifter  206 . Each of the phase shifters  206  may be set to shift the phase of its incoming RF signal by a particular amount such that the resulting RF beam emitted from the transmit phase antenna array  106  may be steered toward a particular area within the field of view of the radar system  100 . The phase shifter  206  may be implemented using a plurality of selectable line lengths, various filtration methods, and/or the like to provide a selectable phase delay for the RF signal. In other examples, the phase shifter  206  may be replaced with a delay element. The output of the phase shifter  206  may then be forwarded to a high-power amplifier (HPA)  208  to amplify that signal. The amplified RF signal may then be provided as input to a spectrum-limiting filter  210  to spectrally shape the outgoing RF signal before being forwarded to its corresponding antenna element  105  of the transmit phase antenna array  106 . 
     While  FIG. 2  provides a particular configuration for the transmit beamforming networks  126 , other types, numbers, and orders of components for each of the networks  126  may be employed in other examples. 
     Since the transmit phased antenna array  106  and corresponding circuitry are not also employed for the receiving of the scatter signals, the transmit beamforming networks  126  may not be deactivated during any particular time to allow reception of the resulting scatter signals, unlike many other AESA-based radar systems. Without such deactivation, overall operation of the radar system  100  may be accelerated as a result. 
       FIG. 3  is a block diagram of an example receive array circuit  300  for the radar system  100  of  FIG. 1 . The receive array circuit  300  may be employed in conjunction with either or both of the vertical receive antenna array  102  and the horizontal receive antenna array  104 .  FIG. 3  depicts an example in which the receive array circuit  300  includes an example of the vertical and/or horizontal receive antenna arrays  102  and  104 , the vertical and/or horizontal beamforming networks  122  and  124 , and the receivers  132 , shown operating in conjunction with the waveform generator  130  and the signal data processor  134 . In each of the receive antenna arrays  102  and  104 , the various antenna elements  101  and  103  may be grouped into sub-arrays  112  and  114 , as mentioned above. For example, within the vertical receive antenna array  102 , the antenna elements  101  may be grouped into T sub-arrays  112 , with each sub-array  112  including S antenna elements  101 . The antenna elements  103  may be similarly grouped within the horizontal receive antenna array  104 . In some examples, the total number of antenna elements  101 ,  103 , as well as the number of sub-arrays  112 ,  114  and the number of antenna elements  101 ,  103  within each sub-array  112 ,  114 , may be different between the vertical receive antenna array  102  and the horizontal receive antenna array  104 . 
     Similar to  FIG. 2 , while  FIG. 3  provides a specific configuration for the vertical and/or horizontal beamforming networks  122  and  124 , as well as the receivers  132 , other types, numbers, and orders of components for each of the networks  122  and  123  and the receivers  132  are possible in other embodiments. 
     In the example of  FIG. 3 , the RF scatter signal received by each antenna array element  101  and  103  may be provided as input to a low noise amplifier (LNA)  302  to accurately amplify the signal. The amplified signal may then be forwarded to a variable phase shifter  304  (or delay element) such that the signal received at each of antenna elements  101 ,  103  within each sub-array  112 ,  114  may be phase-shifted to correspond to a particular elevation (for the vertical receive antenna array  102 ) or azimuth (for the horizontal receive antenna array  104 ). More specifically, each of the sub-arrays  112 ,  114  may be directed to the same elevation or azimuth to facilitate the probing of multiple areas with the field of view of the radar system  100  simultaneously or concurrently with high resolution. 
     The output from each of the phase shifters  304  of a particular sub-array  112 ,  114  may then be combined or summed in an analog manner using a combiner network  306 . The summed signal from each of the combiner networks  306  may then be provided to an amplifier  308  prior to forwarding to the receivers  132 . 
     At the receivers  132 , a mixer  310  may down-convert the combined, amplified RF signal received from its corresponding sub-array  112 ,  114  to a baseband signal by mixing or multiplying the received RF signal with a local oscillator signal provided by the waveform generator  130 . Once the received RF signal is down-converted, the resulting baseband signal may be filtered by way of a high-pass filter  312 , amplified using an amplifier  314 , and filtered via a low-pass filter  316  prior to being digitized by way of an analog-to-digital converter (ADC)  318 . The digitized signal for each channel associated with a particular sub-array  112 ,  114  may then be provided by the vertical or horizontal beamforming network  122  and  124  that includes that ADC  318  to the signal data processor  134 , which may use an FFT algorithm and/or other processing across all of the digitized signal to generate the information descriptive of the range, azimuth, elevation, velocity, and/or micro-Doppler information of one or more objects within the field of view of the radar system  100 , as mentioned above. 
     In examples of the vertical receive antenna array  102  and the horizontal receive antenna array  104  discussed above, including the individual array elements  101  and  103 , associated sub-arrays  112  and  114 , as well as the associated circuitry discussed above, the receive antenna arrays  102  and  104  may be operated in a hybrid analog/digital mode to generate the 4D information mentioned above. More specifically, individual array elements  101 ,  103  of each sub-array  112 ,  114  may be combined in analog fashion to create a digital channel for that sub-array  112 ,  114 . Further, the digital channels for the entire vertical receive antenna array  102  or the entire horizontal receive antenna array  104  may be combined digitally at the signal data processor  134 , such as by way of an FFT calculation, to derive 4D information of enhanced resolution and accuracy. 
     To aid in describing how such enhanced information may be generated,  FIGS. 4A through 4D  provide graphical depictions relating individual antenna elements and associated sub-arrays of example receive antenna arrays of the radar system  100  of  FIG. 1 . In the following discussion, the operation of the horizontal receive antenna array  104  and associated components are discussed, but this discussion is equally applicable to the vertical receive antenna array  102  and corresponding circuitry. 
       FIG. 4A  is a graphical depiction of various examples of a single antenna element  103  that illustrates how the beam width (or angle) φ of that antenna element  103  is inversely proportional to the effective antenna aperture D of the antenna element  103 . Typically, the effective aperture D of an antenna is related to the surface area of the antenna normal to the direction of the beam. Presuming the effective aperture D results in a beam width φ, then doubling the effective aperture of the antenna element  103  to 2D results in a corresponding narrower beam width of φ/2. Correspondingly, doubling the effective aperture of the antenna element  103  again to 4D results in an even narrower beam width of φ/4. 
     As shown in  FIGS. 4B and 4C , a corresponding effect may be achieved by arranging and electrically combining a plurality of separate antenna elements  103 , each having an effective aperture of D, as a sub-array  114 , as described above. In the example of  FIG. 4B , four antenna elements  103  are arranged adjacent to each other as a sub-array  114 , resulting in their beams, each having a beam width of φ, substantially overlapping. By combining the signals of the antenna elements  103  in the analog domain, as discussed above with respect to  FIG. 3 , an effective beam width of φ/4 is achieved for the sub-array  114 , as depicted in  FIG. 4C . Each of these narrowed beam widths corresponds to a single sub-array  114  digital channel, as described earlier. 
     Moreover, by supplying multiple sub-arrays  114 , each directed to the same portion of the field of view, and processing the resulting digital channels of the sub-arrays  114  together, such as by way of an FFT, may result in the generation of multiple beams, each with an effective beam width narrower than the beam width of φ/4 associated with each individual sub-array  114 . In  FIG. 4D , for example, four sub-arrays  114 , each having four antenna elements  103 , are aligned substantially adjacent to each other, resulting in an effective antenna aperture of 16D. By combining the signals from individual antennae  103  within each sub-array  114  in the analog domain, digitizing the signal associated with each sub-array  114  to yield four separate digital channels, and then simultaneously combining the four channels digitally, four simultaneous digital beams may be generated, each with an effective beam width of φ/16. Consequently, to detect an object within the overall beam width of φ, the beams of the sub-arrays  114  would be steered to each φ/4 portion in succession, resulting in four separate scans. 
     By employing the process described above to both the horizontal receive antenna array  104  and the vertical receive antenna array  102 , and digitally combining the information received from the arrays  102  and  104 , areal portions of the original beam width of φ may be probed individually, resulting in increased resolution and accuracy, while limiting equipment costs and overall scanning time typically associated with an AESA radar system. 
     While the example of  FIGS. 4A through 4D  describes a particular embodiment employing sixteen total antenna elements  103  grouped into four sub-arrays  114 , other numbers of antenna elements  103  and sub-groups  114 , as well as a measurable spacing between two neighboring antenna elements  103 , are also possible. In some examples, the antenna element  103  may have an effective aperture D smaller than the distance between neighboring antenna elements  103 . Under such circumstances, the sub-array  114  may have an overall aperture determined by the number of antenna elements  103  in the sub-array  114  and the distance among them. However, the same working principle described in the embodiments of  FIGS. 4A through 4D  also applies in these examples. 
     To facilitate the detection and tracking of objects within the total field of view of the radar system  100 , the operation of the transmit phased antenna array  106  and the receive antenna arrays  102  and  104  may be coordinated to scan the field of view one portion at a time. For example,  FIG. 5  is a graphical depiction of a scan pattern  500  of an example transmit phased antenna array  106  of the radar system of  FIG. 1 . In this particular example, the beam provided by the transmit phased antenna array  106  is presumed to possess a footprint  502  of about ten degrees in both elevation and azimuth. Typically, the footprint  502  may be defined as the 3-dB (decibel) beam width of the transmit array  106 . Thus, to cover a desired area of −40 to +40 degrees azimuth and −10 to +10 degrees elevation, the transmit phased antenna array  106  would perform a total of sixteen scans in series, such as two rows of eight scans each, by directing the radar beam using phase-shifting or signal-delaying, as discussed earlier. 
     However, within each scan footprint  502 , representing a portion of the overall field of view, high resolution detection in both azimuth and elevation may occur over a plurality of sub-portions of the scan footprint  502  simultaneously by employing the aspects described above. In this example, the vertical receive antenna array  102  possesses an overall beam width of 25 degrees elevation, but an effective beam width of two degrees elevation due to the organizing of the antenna elements  101  into five sub-arrays  112 , as well as the analog and digital processing describe above, resulting in five 2-degree beams being processed simultaneously. Presuming the horizontal receive antenna array  104  is operated in a similar manner, a total of 25 sub-portions  504 , in a five-by-five pattern, of the scan footprint  502 , may be processed simultaneously. Accordingly, the number of sub-portions being processed may be equal to the number of sub-arrays  112  of the vertical receive antenna array  102  multiplied by the number of sub-arrays  114  of the horizontal receive antenna array  104 . Each scan footprint  502  may then be processed in serial fashion, resulting in a fast, high resolution scan of the entire field of view. 
       FIG. 6  is a flow diagram of an example method  600  of operating the example radar system  100  of  FIG. 1 . While the method  600  is described below in conjunction with the radar system  100  and its various components, as disclosed above, other embodiments of the method  600  may employ different devices or systems not specifically discussed herein. 
     In the method  600 , a radar beam generated by the transmit phased antenna array  106  is directed to a particular portion of the field of view for a dwell time (operation  602 ), such as by way of electronic beamsteering, as explained earlier. The vertical receive antenna array  102  is adjusted (e.g., by way of beamforming) in elevation to receive scatter signals from the portion of the field of view caused by the radar beam (operation  604 ). The horizontal receive antenna array  104  is adjusted in azimuth to receive the scatter signals from the same portion of the field of view (operation  606 ). During the dwell time, the scatter signals are received at the antenna elements  101  and  103  of each of the sub-arrays  112  and  114  of each of the receive antenna arrays  102  and  104  (operation  608 ), with the signals of the antenna elements  101  and  103  being combined in the analog domain within each sub-array  112  and  114 . The combined signal of each sub-array  112  and  114  is digitized (operation  610 ), and the digitized signals are digitally processed simultaneously to generate detection information corresponding to each of the receive antenna arrays  102  and  104  (operation  612 ). The vertical detection information corresponding to the vertical receive antenna array  102  may be correlated to the horizontal detection information corresponding to the horizontal receive antenna array  104  to generate sub-portion detection information for each of a plurality of sub-portions of the portion of the field of view (operation  614 ). In an example, each sub-portion corresponds to an intersection of one of the effective beam widths produced by the sub-arrays  112  of the vertical receive antenna array  102  and the sub-arrays  114  of the horizontal receive antenna array  104 . 
     While  FIG. 6  depicts the operations  602 - 614  of the method  600  as being performed in a single particular order, the operations  602 - 614  may be performed repetitively over some period of time, both with respect to each footprint  502  or portion scanned, as well as to multiple repetitive scans of the entire field of view of the radar system  100 , to provide ongoing detection and tracking of one or more objects within the field of view. 
       FIG. 7  is a block diagram of an example multiple-radar system  700  employing the radar system  100  of  FIG. 1  to facilitate multiple fields of view  702 . In one example, while each individual radar system  100  may possess a field of view of 60-120 degrees azimuth, the use of multiple such radar systems  100  in concert may provide 360-degree azimuth coverage of an environment. While six individual radar systems  100  are employed in the example of  FIG. 7 , other numbers of radar systems  100  may be utilized, depending on the operational characteristics imposed on the overall system  700 . In yet other examples, multiple radar systems  100  may be employed to increase coverage in elevation in addition to, or in lieu of, multiple radar systems  100  used for increased azimuth coverage. 
       FIG. 8  is a block diagram of an example hardware environment  800  in which the example radar system of  FIG. 1  may operate. In the example of  FIG. 8 , the hardware environment  800  is described in reference to a vehicle, such as an autonomous or semiautonomous vehicle to facilitate control of acceleration, braking, steering, navigation, and/or other functions, but other environments may benefit from the use of the environment  800  in other embodiments. Also, while  FIG. 8  illustrates a particular component arrangement for the hardware environment  800 , many other types of arrangements may be employed in other embodiments. 
     The hardware environment  800  may include a radome  804  constructed of a non-metallic material to enclose at least a portion of the remainder of the radar hardware environment  800  to protect that portion from rain, snow, ice, dirt, dust, and other environment threats. In addition, the radome  804  may be positioned behind a fascia  802 , such as a plastic or fiberglass bumper or fender of a vehicle, to essentially hide the radome  804  to improve the overall aesthetics of the vehicle. 
     The hardware environment  800  may include one or more RF printed circuit boards  810  that may include several components of the radar system  100  of  FIG. 1 , such as the vertical receive antenna array  102 , the horizontal receive antenna array  104 , the transmit phased antenna array  106 , the vertical receive beamforming networks  122 , the horizontal receive beamforming networks  124 , the transmit beamforming networks  126 , the waveform generator  130 , and the receivers  132 . More specifically, as depicted in  FIG. 8 , the RF board  810  may be populated with a first receive final digital beamforming RF integrated circuit (RX FDBF RFIC)  812  that includes the vertical receive antenna array  102 , the vertical receive beamforming networks  122 , and receivers  132 A corresponding to the vertical receive antenna array  102 . Also included on the RF board  810  may be a separate receive final digital beam forming integrated circuit (RX FDBF IC)  814  that includes the horizontal receive antenna array  104 , the horizontal receive beamforming networks  124 , and receivers  132 B corresponding to the horizontal receive antenna array  104 . Also included on the RF board  810  may be a transmit AESA RF integrated circuit (TX AESA RFIC)  816  including the transmit phased antenna array  106  and the transmit beamforming networks  126 . In other examples, the vertical receive antenna array  102 , the horizontal receive antenna array  104 , and/or the transmit phased antenna array  106  may be mounted directly to, or incorporated within, the RF board  810 . The RF PCB  810  may also have mounted thereon the waveform generator  130  of the radar system  100 . 
     The hardware environment  800  may also include a separate control/power board  820  that may include the signal data processor  134 , as well as a power regulator  822  for the RF board  810 , and a bus controller  824 . In one example, the bus controller  824  may include a controller for a controller bus  830 , such as a Controller Area Network (CAN) bus to which other controllers may be communicatively coupled. In one example, the bus controller  824  may facilitate the transmission of detection data to another controller, such as the environment model/tracker  136  of  FIG. 1   
       FIG. 9  is a block diagram of the signal data processor  134  of the radar system  100  of  FIG. 1 . In this example, the signal data processor  134  may include a digitizer module  902 , which may include the ADCs  318  of the receivers  132 . In other examples, the ADCs  318  may reside with the remainder of the circuitry of the receivers  132  on the RF board  810 . The signal data processor  134  may also include a 4D data formation module  904  for generating the range, azimuth, elevation, and/or velocity information for one or more objects as detected via the radar system  100 . The 4D data formation module  904  may also provide special processing operations to extract micro-Doppler information for particular objects, such as human beings. This processing may be guided by the environment model/tracker  136  to only apply to particular detected objects (e.g., based on size, velocity, and/or so on) to minimize processing time. 
     The signal data processor  134  may also include a data compression module  906  to compress the generated 4D and related information to more easily transport and store that data. The data compression module  906  may perform thresholding, detection clustering, and centroiding of the potential targets or objects. The data compression module  906  may also include shape measurements from each formed cluster. Moreover, the data compression module  906  may also include a data correlator to jointly process the signals received through both the vertical receive antenna array  102  and the horizontal receive antenna array  104  and form both azimuth and elevation information for each target, as described above. The joint processing can include, but is not limited to, matching the range and Doppler information of each target received from the horizontal receive antenna array  104  to that received from the vertical receive antenna array  102 . In other examples, this joint processing may be performed instead within the environmental model/tracker module  136 . 
     The signal data processor  134  may further include a maintenance module  908  to perform various maintenance or logistical functions related to the radar system  100 , such as built-in self-test, calibration, alignment, blockage detection, and so on. The signal data processor  134  may also include a signal timing module  910  to control the waveform generator  130 , possibly in addition to other aspects of the radar system  100 , to generate timing signals for use in scanning of the field of view of view, transmitting of the radar beam, receiving of the scatter signals, beamforming and/or beamsteering of the transmit and receive circuits, and so on. In addition, the signal data processor  134  may include a controller module  912  for controlling the bus controller  824  of  FIG. 8 . 
     In other examples, additional modules not specifically described above may be implemented using the signal data processor  134 , while one or more of the modules discussed above may be omitted from the signal data processor  134 , in other embodiments. 
     Turning to  FIG. 10 , an electronic device  1000  including operational units  1002 - 1008  arranged to perform various operations of the presently disclosed technology is shown. The operational units  1002 - 1008  of the device  1000  may be implemented by hardware or a combination of hardware and software to carry out the principles of the present disclosure. It will be understood by persons of skill in the art that the operational units  1002 - 1008  described in  FIG. 10  may be combined or separated into sub-blocks to implement the principles of the present disclosure. Therefore, the description herein supports any possible combination or separation or further definition of the operational units  1002 - 1008 . Moreover, multiple electronic devices  1000  may be employed in various embodiments. 
     In one implementation, the electronic device  1000  includes an output unit  1002  configured to provide information, including possibly display information, such as by way of a graphical user interface, and a processing unit  1004  in communication with the output unit  1002  and an input unit  1006  configured to receive data from one or more input devices or systems. Various operations described herein may be implemented by the processing unit  1004  using data received by the input unit  1006  to output information using the output unit  1002 . 
     Additionally, in one implementation, the electronic device  1000  includes one or more control units  1008  implementing the operations  602 - 614  of  FIG. 6 , as well as other operations described herein. Accordingly, the control units  1008  may include or perform the operations associated with the control circuits  140  of  FIG. 1 , as well as other control circuits, algorithms, of functions described herein. Further, the electronic device  1000  may serve as the signal data processor  134 , as well as any other controller and/or processor discussed above. 
     Referring to  FIG. 11 , a detailed description of an example computing system  1100  having one or more computing units that may implement various systems and methods discussed herein is provided. The computing system  1100  may be applicable to, for example, the radar systems  100  and  700 , and similar systems described herein. It will be appreciated that specific implementations of these devices may be of differing possible specific computing architectures, not all of which are specifically discussed herein but will be understood by those of ordinary skill in the art. 
     The computer system  1100  may be a computing system is capable of executing a computer program product to execute a computer process. Data and program files may be input to the computer system  1100 , which reads the files and executes the programs therein. Some of the elements of the computer system  1100  are shown in  FIG. 11 , including one or more hardware processors  1102 , one or more data storage devices  1104 , one or more memory devices  1106 , and/or one or more ports  1108 - 1112 . Additionally, other elements that will be recognized by those skilled in the art may be included in the computing system  1100  but are not explicitly depicted in  FIG. 11  or discussed further herein. Various elements of the computer system  1100  may communicate with one another by way of one or more communication buses, point-to-point communication paths, or other communication means not explicitly depicted in  FIG. 11   
     The processor  1102  may include, for example, a central processing unit (CPU), a microprocessor, a microcontroller, a digital signal processor (DSP), and/or one or more internal levels of cache. There may be one or more processors  1102 , such that the processor  1102  comprises a single central-processing unit, or a plurality of processing units capable of executing instructions and performing operations in parallel with each other, commonly referred to as a parallel processing environment. 
     The computer system  1100  may be a conventional computer, a distributed computer, or any other type of computer, such as one or more external computers made available via a cloud computing architecture. The presently described technology is optionally implemented in software stored on the data stored device(s)  1104 , stored on the memory device(s)  1106 , and/or communicated via one or more of the ports  1108 - 1112 , thereby transforming the computer system  1100  in  FIG. 11  to a special purpose machine for implementing the operations described herein. Examples of the computer system  1100  include personal computers, terminals, workstations, mobile phones, tablets, laptops, personal computers, multimedia consoles, gaming consoles, set top boxes, embedded computing and processing systems, and the like. 
     The one or more data storage devices  1104  may include any non-volatile data storage device capable of storing data generated or employed within the computing system  1100 , such as computer executable instructions for performing a computer process, which may include instructions of both application programs and an operating system (OS) that manages the various components of the computing system  1100 . The data storage devices  1104  may include, without limitation, magnetic disk drives, optical disk drives, solid state drives (SSDs), flash drives, and the like. The data storage devices  1104  may include removable data storage media, non-removable data storage media, and/or external storage devices made available via a wired or wireless network architecture with such computer program products, including one or more database management products, web server products, application server products, and/or other additional software components. Examples of removable data storage media include Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc Read-Only Memory (DVD-ROM), magneto-optical disks, flash drives, and the like. Examples of non-removable data storage media include internal magnetic hard disks, SSDs, and the like. The one or more memory devices  1106  may include volatile memory (e.g., dynamic random access memory (DRAM), static random access memory (SRAM), etc.) and/or non-volatile memory (e.g., read-only memory (ROM), flash memory, etc.). 
     Computer program products containing mechanisms to effectuate the systems and methods in accordance with the presently described technology may reside in the data storage devices  1104  and/or the memory devices  1106 , which may be referred to as machine-readable media. It will be appreciated that machine-readable media may include any tangible non-transitory medium that is capable of storing or encoding instructions to perform any one or more of the operations of the present disclosure for execution by a machine or that is capable of storing or encoding data structures and/or modules utilized by or associated with such instructions. Machine-readable media may include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more executable instructions or data structures. 
     In some implementations, the computer system  1100  includes one or more ports, such as an input/output (I/O) port  1108 , a communication port  1110 , and a sub-systems port  1112 , for communicating with other computing or network devices. It will be appreciated that the ports  1108 - 1112  may be combined or separate and that more or fewer ports may be included in the computer system  1100 . 
     The I/O port  1108  may be connected to an I/O device, or other device, by which information is input to or output from the computing system  1100 . Such I/O devices may include, without limitation, one or more input devices, output devices, and/or environment transducer devices. 
     In one implementation, the input devices convert a human-generated signal, such as, human voice, physical movement, physical touch or pressure, and/or the like, into electrical signals as input data into the computing system  1100  via the I/O port  1108 . Similarly, the output devices may convert electrical signals received from computing system  1100  via the I/O port  1108  into signals that may be sensed as output by a human, such as sound, light, and/or haptics. The input device may be an alphanumeric input device, including alphanumeric and other keys for communicating information and/or command selections to the processor  1102  via the I/O port  1108 . The input device may be another type of user input device including, but not limited to: direction and selection control devices, such as a mouse, a trackball, cursor direction keys, a joystick, and/or a wheel; one or more sensors, such as a camera, a microphone, a positional sensor, an orientation sensor, a gravitational sensor, an inertial sensor, and/or an accelerometer; and/or a touch-sensitive display screen (“touchscreen”). The output devices may include, without limitation, a display, a touchscreen, a speaker, a tactile and/or haptic output device, and/or the like. In some implementations, the input device and the output device may be the same device, for example, in the case of a touchscreen. 
     The environment transducer devices convert one form of energy or signal into another for input into or output from the computing system  1100  via the I/O port  1108 . For example, an electrical signal generated within the computing system  1100  may be converted to another type of signal, and/or vice-versa. In one implementation, the environment transducer devices sense characteristics or aspects of an environment local to or remote from the computing device  1100 , such as, light, sound, temperature, pressure, magnetic field, electric field, chemical properties, physical movement, orientation, acceleration, gravity, and/or the like. Further, the environment transducer devices may generate signals to impose some effect on the environment either local to or remote from the example computing device  1100 , such as, physical movement of some object (e.g., a mechanical actuator), heating or cooling of a substance, adding a chemical substance, and/or the like. 
     In one implementation, a communication port  1110  is connected to a network by way of which the computer system  1100  may receive network data useful in executing the methods and systems set out herein as well as transmitting information and network configuration changes determined thereby. Stated differently, the communication port  1110  connects the computer system  1100  to one or more communication interface devices configured to transmit and/or receive information between the computing system  1100  and other devices by way of one or more wired or wireless communication networks or connections. Examples of such networks or connections include, without limitation, Low-Voltage Differential Signaling (LVDS), Universal Serial Bus (USB), Ethernet, Wi-Fi, Bluetooth®, Near Field Communication (NFC), Long-Term Evolution (LTE), and so on. One or more such communication interface devices may be utilized via the communication port  1110  to communicate one or more other machines, either directly over a point-to-point communication path, over a wide area network (WAN) (e.g., the Internet), over a local area network (LAN), over a cellular (e.g., third generation (3G) or fourth generation (4G)) network, or over another communication means. Further, the communication port  1110  may communicate with an antenna for electromagnetic signal transmission and/or reception. In some examples, an antenna may be employed to receive Global Positioning System (GPS) data to facilitate determination of a location of a machine or another device. 
     The computer system  1100  may include a sub-systems port  1112  for communicating with one or more other systems or sub-systems to control those systems or sub-systems and/or to exchange information between the computer system  1100  and the systems or sub-systems. 
     In an example implementation, object sensing information and software and other modules and services may be embodied by instructions stored on the data storage devices  1104  and/or the memory devices  1106  and executed by the processor  1102 . The present disclosure recognizes that the use of such information may be used to the benefit of users. 
     Users can selectively block use of, or access to, personal data, such as location information. A system incorporating some or all of the technologies described herein can include hardware and/or software that prevents or blocks access to such personal data. For example, the system can allow users to “opt in” or “opt out” of participation in the collection of personal data or portions thereof. Also, users can select not to provide location information, or permit provision of general location information (e.g., a geographic region or zone), but not precise location information. 
     Entities responsible for the collection, analysis, disclosure, transfer, storage, or other use of such personal data should comply with established privacy policies and/or practices. Such entities should safeguard and secure access to such personal data and ensure that others with access to the personal data also comply. Such entities should implement privacy policies and practices that meet or exceed industry or governmental requirements for maintaining the privacy and security of personal data. For example, an entity should collect users&#39; personal data for legitimate and reasonable uses and not share or sell the data outside of those legitimate uses. Such collection should occur only after receiving the users&#39; informed consent. Furthermore, third parties can evaluate these entities to certify their adherence to established privacy policies and practices. 
     The system set forth in  FIG. 11  is but one possible example of a computer system that may employ or be configured in accordance with aspects of the present disclosure. It will be appreciated that other non-transitory tangible computer-readable storage media storing computer-executable instructions for implementing the presently disclosed technology on a computing system may be utilized. 
     In the present disclosure, the methods disclosed may be implemented as sets of instructions or software readable by a device. Further, it is understood that the specific order or hierarchy of steps in the methods disclosed are instances of example approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the method can be rearranged while remaining within the disclosed subject matter. The accompanying method claims present elements of the various steps in a sample order, and are not necessarily meant to be limited to the specific order or hierarchy presented. 
     The described disclosure may be provided as a computer program product, or software, that may include a non-transitory machine-readable medium having stored thereon instructions, which may be used to program a computer system (or other electronic devices) to perform a process according to the present disclosure. A machine-readable medium includes any mechanism for storing information in a form (e.g., software, processing application) readable by a machine (e.g., a computer). The machine-readable medium may include, but is not limited to, magnetic storage medium, optical storage medium; magneto-optical storage medium, read only memory (ROM); random access memory (RAM); erasable programmable memory (e.g., EPROM and EEPROM); flash memory; or other types of medium suitable for storing electronic instructions. 
     While the present disclosure has been described with reference to various implementations, it will be understood that these implementations are illustrative and that the scope of the disclosure is not so limited. Many variations, modifications, additions, and improvements are possible. More generally, implementations in accordance with the present disclosure have been described in the context of particular implementations. Functionality may be separated or combined in blocks differently in various embodiments of the disclosure or described with different terminology. These and other variations, modifications, additions, and improvements may fall within the scope of the disclosure as defined in the claims that follow.

Metadata:
Filing Date: 20161031
Publication Date: 20191015
Grant Date: 20191015
Priority Date: 20151223
Inventors: WANG, JIAN
ROGERS, GREGORY E.
Assignee: APPLE INC
CPC Classifications: [{"code": "G01S13/42", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S13/06", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01Q9/0407", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01Q21/08", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01Q21/0006", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S7/352", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S13/58", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S2013/0254", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S7/352", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01Q21/08", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01Q21/0006", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S2013/0254", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S13/06", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01Q9/0407", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S13/58", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S7/352", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S2013/0254", "inventive": false, "first": false, "tree": "[]"}]
Family ID: 68165096