# US 10,371,797 B1 · Systems and methods for enhancing target detection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,371,797 B1 - Document ID: US10371797B1 - Status: Granted - Kind: B1 - Application number: 16/208,442 - Filed: 2018-12-03 - Granted: 2019-08-06 - Earliest claimed: 2018-05-23 - Assignees: Zendar Inc. - Applicants: Zendar Inc. - Inventors: Michael Prados; Antonio Puglielli; Ching Ming Wang; Vinayak Nagpal - Web page: https://patentgrep.com/patent/US10371797B1 ## CPC - G01S 7/2813: {Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays (specially adapted to secondary radar systems G01S13/762; aerials or aerials systems H01Q21/29, H01Q25/00)} - G01S 7/03: Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver - G01S 13/02: Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems - G01S 13/10: using transmission of interrupted, pulse modulated waves (determination of distance by phase measurement G01S13/32) - G01S 13/426: {Scanning radar, e.g. 3D radar (G01S13/66 takes precedence)} - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/90: using synthetic aperture techniques {, e.g. synthetic aperture radar [SAR] techniques} - G01S 13/931: of land vehicles - G01S 2013/0254: {Active array antenna} - G01S 2013/0263: {Passive array antenna} - G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction} - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93272: {in the back of the vehicles} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A system for determining a spatial disposition or a characteristic of a target external to a terrestrial vehicle is provided. The system may comprise a radar antenna array configured to transmit and receive radar signals, and a controller operatively coupled to the radar antenna array. The controller can be configured to use spatial information of the terrestrial vehicle and a spatial configuration of the radar antenna array to generate an enhanced main lobe by attenuating one or more side lobes in an effective sensitivity pattern associated with the radar antenna array or enhancing a main lobe in the effective sensitivity pattern associated with the radar antenna array. The controller can be configured to use the enhanced main lobe to determine (i) the spatial disposition of the target relative to the terrestrial vehicle or (ii) the characteristic of the target. ## Claims ### Claim 1 A system for determining a spatial disposition or a characteristic of a target, said system comprising: a radar antenna array and one or more transceivers operably coupled to said radar antenna array, wherein said radar antenna array and said one or more transceivers are configured to be mounted on a terrestrial vehicle, wherein said radar antenna array and said one or more transceivers are configured to (i) transmit successive radar pulses, and (ii) receive a plurality of signals corresponding to at least a subset of said successive radar pulses, which plurality of signals is generated upon the at least said subset of said successive radar pulses interacting with said target, wherein an effective sensitivity pattern associated with said radar antenna array and obtained from said plurality of signals comprises a main lobe and a side lobe, wherein said side lobe comprises an aliasing side lobe; and at least one controller operatively coupled to said radar antenna array, wherein said at least one controller is configured to (i) use (a) spatial information of said terrestrial vehicle obtained using a vehicle position sensor while said terrestrial vehicle is in motion and (b) a spatial configuration of said radar antenna array when said radar antenna array is mounted to said terrestrial vehicle, to attenuate said side lobe relative to said main lobe or enhance said main lobe relative to said side lobe, thereby providing an enhanced main lobe, and (ii) use said enhanced main lobe to determine said spatial disposition or said characteristic of said target. ### Claim 2 (depends on 1) The system of claim 1, wherein said radar antenna array comprises (i) a transmitting antenna and (ii) a receiving antenna. ### Claim 3 (depends on 1) The system of claim 1, wherein said radar antenna array comprises a virtual antenna. ### Claim 4 (depends on 1) The system of claim 1, wherein said radar antenna array is configured to be mounted on said terrestrial vehicle in a forward-facing direction or in a reverse-facing direction, relative to direction of motion of said terrestrial vehicle. ### Claim 5 (depends on 1) The system of claim 1, wherein said spatial configuration of said radar antenna array is based at least in part on an imaging region and an angular resolution within a field of detection of said radar antenna array, wherein said imaging region is defined separately for azimuth and elevation angles. ### Claim 6 (depends on 5) The system of claim 5, wherein an aperture size of said radar antenna array is based at least in part on (1) said angular resolution and (2) an operating wavelength of said radar antenna array, and wherein said at least one controller is configured to use said angular resolution and said operating wavelength at least in part to define a distance traveled by said terrestrial vehicle. ### Claim 7 (depends on 5) The system of claim 5, wherein said side lobe is located at an angular distance from said main lobe, and wherein said spatial configuration comprises a spacing between adjacent antennas of said radar antenna array such that said angular distance is greater than said imaging region. ### Claim 8 (depends on 5) The system of claim 5, wherein adjacent antennas of said radar antenna array are distributed at a spacing such that said side lobe lies outside of said imaging region. ### Claim 9 (depends on 5) The system of claim 5, wherein said imaging region covers at least ±10 degrees from a forward or reverse direction of motion of said terrestrial vehicle. ### Claim 10 (depends on 5) The system of claim 5, wherein said imaging region covers no more than ±60 degrees from a forward or reverse direction of motion of said terrestrial vehicle. ### Claim 11 (depends on 1) The system of claim 1, wherein said spatial information comprises a distance traveled by said terrestrial vehicle, wherein said spatial configuration of said radar antenna array comprises a spacing between adjacent antennas of said array, and wherein said controller is configured to attenuate said side lobe relative to said main lobe or enhance said main lobe relative to said side lobe based at least on (1) said distance traveled by said terrestrial vehicle and (2) said spacing between said adjacent antennas of said array, thereby providing said enhanced main lobe. ### Claim 12 (depends on 1) The system of claim 1, wherein said spatial configuration of said radar antenna array comprises a spacing between adjacent antennas of said radar antenna array, wherein said spacing is greater than one-half of an operating wavelength of said radar antenna array. ### Claim 13 (depends on 12) The system of claim 12, wherein said spacing is at least 10% greater than said one-half of said operating wavelength of said radar antenna array. ### Claim 14 (depends on 12) The system of claim 12, wherein said spacing is greater than about 2 millimeters. ### Claim 15 (depends on 1) The system of claim 1, wherein said radar antenna array is configured to transmit successive radar pulses at a pulse repetition frequency such that when said terrestrial vehicle is in motion, a change in position of said terrestrial vehicle between two successive radar pulses is from about one-quarter to about six times of an operating wavelength of said radar antenna array. ### Claim 16 (depends on 15) The system of claim 15, wherein said change in position of said terrestrial vehicle between two successive radar pulses is less than about one-half of said operating wavelength of said radar antenna array. ### Claim 17 (depends on 1) The system of claim 1, wherein said vehicle position sensor comprises at least one member selected from the group consisting of an inertial measurement unit, a global positioning system sensor, a camera, a light detection and ranging (lidar) unit, a wheel encoder, and a radar. ### Claim 18 (depends on 17) The system of claim 17, wherein said vehicle position sensor is located separately from said radar antenna array, and wherein said vehicle position sensor is configured to be mounted to said terrestrial vehicle. ### Claim 19 (depends on 1) The system of claim 1, wherein said at least one controller is configured to determine spatial dispositions or characteristics of a plurality of targets by attenuating a plurality of side lobes associated with said plurality of targets or enhancing a plurality of main lobes associated with said plurality of targets, to provide a plurality of enhanced main lobes, which plurality of targets comprises said target. ### Claim 20 (depends on 19) The system of claim 19, wherein said at least one controller is configured to differentiate between said spatial dispositions or said characteristics of said plurality of targets after said plurality of side lobes have been attenuated or said plurality of main lobes have been enhanced. ### Claim 21 (depends on 1) The system of claim 1, wherein said one or more transceivers comprise a transmitter and a receiver separate from said transmitter, wherein said transmitter is configured to transmit said successive radar pulses, and wherein said receiver is configured to receive said plurality of signals corresponding to said at least said subset of said successive radar pulses. ### Claim 22 (depends on 1) The system of claim 1, wherein said one or more transceivers comprises a transceiver that is configured to (i) transmit said successive radar pulses and (ii) receive said plurality of signals corresponding to said at least said subset of said successive radar pulses. ### Claim 23 A method for identifying a position of a target, comprising (i) collecting radar data from an environment external to a terrestrial vehicle using a radar antenna array mounted on said terrestrial vehicle, wherein said radar data comprises a main lobe and a side lobe, wherein said side lobe is an aliasing side lobe, (ii) collecting position information of said terrestrial vehicle using a vehicle position sensor, (iii) using at least said position information to attenuate said side lobe relative to said main lobe or enhance said main lobe relative to said side lobe, to yield an enhanced main lobe, and (iv) using said enhanced main lobe to identify said position of said target in said environment at a detection accuracy of at least 90% when said target has a size of at least 0.2 meters and is located at a distance of at least 1 meter from said terrestrial vehicle. ### Claim 24 (depends on 23) The method of claim 23, wherein said radar antenna array is provided on a front side of said terrestrial vehicle in a forward-facing direction of said terrestrial vehicle, or provided on a rear side of said terrestrial vehicle in a reverse-facing direction of said terrestrial vehicle. ### Claim 25 A method for determining a spatial disposition or a characteristic of a target, comprising: (a) providing, mounted on a terrestrial vehicle, a radar antenna array and one or more transceivers operably coupled to said radar antenna array; (b) using said radar antenna array and said one or more transceivers to: (i) transmit successive radar pulses, and (ii) receive a plurality of signals corresponding to at least a subset of said successive radar pulses, which plurality of signals is generated upon the at least said subset of said successive radar pulses interacting with said target, wherein an effective sensitivity pattern associated with said radar antenna array and obtained from said plurality of signals comprises a main lobe and a side lobe, wherein said side lobe comprises an aliasing side lobe; (c) using (i) position information of said terrestrial vehicle obtained by a vehicle position sensor while said vehicle is in motion and (ii) a spatial configuration of said radar antenna array when said radar antenna array is mounted to said terrestrial vehicle, to attenuate said side lobe relative to said main lobe or enhance said main lobe relative to said side lobe, thereby providing an enhanced main lobe; and (d) using said enhanced main lobe to determine said spatial disposition or said characteristic of said target. ### Claim 26 (depends on 25) The method of claim 25, wherein said spatial disposition or said characteristic of said target is determined substantially in real time while said terrestrial vehicle is in motion relative to said target. ### Claim 27 (depends on 25) The method of claim 25, wherein said radar antenna array is mounted on said terrestrial vehicle in a forward-facing direction or in a reverse-facing direction, relative to a direction of motion of said terrestrial vehicle. ### Claim 28 (depends on 25) The method of claim 25, wherein said spatial configuration of said radar antenna array comprises a spacing between adjacent antennas of said radar antenna array, wherein said spacing is greater than one-half of an operating wavelength of said radar antenna array. ### Claim 29 (depends on 25) The method of claim 25, further comprising determining spatial dispositions or characteristics of a plurality of targets by attenuating a plurality of side lobes associated with said plurality of targets or enhancing a plurality of main lobes associated with said plurality of targets, to provide a plurality of enhanced main lobes, which plurality of targets comprises said target. ### Claim 30 (depends on 29) The method of claim 29, further comprising: differentiating between said spatial dispositions or said characteristics of said plurality of targets after said plurality of side lobes have been attenuated or said plurality of main lobes have been enhanced.