# US 11,906,618 B2 · MIMO radar apparatuses and MIMO radar methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,906,618 B2 - Document ID: US11906618B2 - Status: Granted - Kind: B2 - Application number: 17/233,715 - Filed: 2021-04-19 - Published: 2021-10-28 - Granted: 2024-02-20 - Earliest claimed: 2020-04-28 - Assignees: Infineon Technologies AG - Applicants: Infineon Technologies AG - Inventors: Byung Kwon Park; Sang Ho Nam - Web page: https://patentgrep.com/patent/US11906618B2 ## CPC - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 7/0233: {Avoidance by phase multiplex} - G01S 7/352: {Receivers} - G01S 7/356: {involving particularities of FFT processing} - G01S 13/343: {using sawtooth modulation} - G01S 13/931: of land 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 The present disclosure relates to a hybrid multiple-input multiple-output (MIMO) radar concept. Via a first subset of a plurality of transmit channels and during a first time interval, first frequency-modulated continuous-wave (FMCW) radar signals are con-currently transmitted with different phase offsets among different transmit channels of the first subset in accordance with a first predefined code division multiplexing scheme. Via a second subset of the transmit channels and during a second time interval subsequent to the first time interval, second FMCW radar signals are concurrently transmitted with different phase offsets among different transmit channels of the second subset in accordance with a second predefined code division multiplexing scheme. ## Claims ### Claim 1 A multiple-input multiple-output (MIMO) radar apparatus, comprising: transmitter circuitry, comprising a plurality of transmit channels, configured to: transmit, via a first subset of transmit channels of the plurality of transmit channels and during a first time interval, concurrent first frequency-modulated continuous-wave (FMCW) radar signals with different first phase offsets among different transmit channels of the first subset of transmit channels in accordance with a first predefined code division multiplexing scheme, wherein the first subset of transmit channels comprises a first transmit channel associated with a first phase modulation vector, and a second transmit channel, associated with a second phase modulation vector different from the first phase modulation vector; and transmit, via a second subset of transmit channels of the plurality of transmit channels and during a second time interval subsequent to the first time interval, concurrent second FMCW radar signals with different second phase offsets among different transmit channels of the second subset of transmit channels in accordance with a second predefined code division multiplexing scheme, wherein the second subset of transmit channels comprises a third transmit channel associated with a third phase modulation vector, and a fourth transmit channel, associated with a fourth phase modulation vector different from the third phase modulation vector. ### Claim 2 (depends on 1) The MIMO radar apparatus of claim 1, wherein the first time interval and the second time interval are different from each other and of a time division multiplexing scheme, and wherein the first subset of transmit channels are not transmitted during the second time interval and the second subset of transmit channels are not transmitted during the first time interval. ### Claim 3 (depends on 1) The MIMO radar apparatus of claim 1, wherein the first transmit channel is disjoint from the second transmit channel, and wherein the third transmit channel is disjoint from the fourth transmit channel. ### Claim 4 (depends on 1) The MIMO radar apparatus of claim 1, wherein the transmitter circuitry is further configured to: assign, to each transmit channel of the first subset of transmit channels, a unique sequence of the first different phase offsets applied to a first sequence of FMCW chirps of a respective transmit channel of the first subset of transmit channels; and assign, to each transmit channel of the second subset of transmit channels, a unique sequence of the second different phase offsets applied to a second sequence of FMCW chirps of a respective transmit channel of the second subset of transmit channels. ### Claim 5 (depends on 1) The MIMO radar apparatus of claim 1, wherein the transmitter circuitry is further configured to: select at least one of the first phase offsets or the second phase offsets from an M-ary phase modulation alphabet, wherein M is an integer equal to or greater than two. ### Claim 6 (depends on 1) The MIMO radar apparatus of claim 1, wherein the transmitter circuitry is further configured to: transmit first FMCW chirps of the first transmit channel with a first particular phase offset of the first phase offsets and second FMCW chirps of the second transmit channel with a second particular phase offset of the second phase offsets, wherein the first FMCW chirps are inter-leaved with the second FMCW chirps of the second transmit channel, and wherein the first particular phase offset and the second particular phase offset differ by a predetermined phase value. ### Claim 7 (depends on 6) The MIMO radar apparatus of claim 6, wherein, to transmit the first FMCW chirps and the second FMCW chirps, the transmitter circuitry is configured to: transmit, while four consecutive first FMCW chirps with a first phase value are transmitted via the first transmit channel, two consecutive first FMCW chirps via the second transmit channel with the first phase value followed by two consecutive second FMCW chirps via the second transmit channel with a second phase value. ### Claim 8 (depends on 6) The MIMO radar apparatus of claim 6, wherein, to transmit the first FMCW chirps and the second FMCW chirps, the transmitter circuitry is configured to: transmit, while eight consecutive first FMCW chirps with a first phase value are transmitted via the first transmit channel, four consecutive first FMCW chirps via the second transmit channel with the first phase value followed by four consecutive second FMCW chirps via the second transmit channel with a second phase value. ### Claim 9 (depends on 1) The MIMO radar apparatus of claim 1, wherein the first predefined code division multiplexing scheme and the second predefined code division multiplexing scheme are identical. ### Claim 10 (depends on 1) The MIMO radar apparatus of claim 1, wherein the first predefined code division multiplexing scheme and the second predefined code division multiplexing scheme are different. ### Claim 11 (depends on 1) The MIMO radar apparatus of claim 1, further comprising receiver circuitry comprising at least one receiver channel; wherein the at least one receiver channel is configured to: receive, during a first receive time interval, a first receive signal corresponding to reflections of the concurrent first FMCW radar signals; and receive, during a second receive time interval subsequent to the first receive time interval, a second receive signal corresponding to reflections of the concurrent second FMCW radar signals. ### Claim 12 (depends on 11) The MIMO radar apparatus of claim 11, wherein the receiver circuitry is further configured to: perform a first range fast Fourier transform (FFT) of first receive signals corresponding to a sequence of first receive time intervals to generate a first range signal associated with the first subset of transmit channels; perform a first Doppler FFT of the first range signal to generate a first Doppler signal associated with the first subset of transmit channels; separate range-Doppler bins associated with different transmit channels of the first subset of transmit channels based on comparing the first Doppler signal to the first predefined code division multiplexing scheme to obtain a first quantity of range-Doppler-maps corresponding to a quantity of transmit channels in the first subset of transmit channels; perform a second range FFT of second receive signals corresponding to a sequence of second receive time intervals to generate a second range signal associated with the second subset of transmit channels; perform a second Doppler FFT of the second range signal to generate a second Doppler signal associated with the second subset of transmit channels; and separate range-Doppler bins associated with different transmit channels of the second subset of transmit channels based on comparing the second Doppler signal to the second predefined code division multiplexing scheme to obtain a second quantity of range-Doppler-maps corresponding to a quantity of transmit channels in the second subset of transmit channels. ### Claim 13 (depends on 12) The MIMO radar apparatus of claim 12, wherein the receiver circuitry is further configured to: determine a first angular spectrum associated with the first quantity of range-Doppler-maps by performing Direction-of-Arrival (DoA) processing of the first quantity of range-Doppler-maps along a synthesized first virtual receive channel domain; and determine a second angular spectrum associated with the second quantity of range-Doppler-maps by performing DoA processing of the second quantity of range-Doppler-maps along a synthesized second virtual receive channel domain. ### Claim 14 (depends on 12) The MIMO radar apparatus of claim 12, wherein the receiver circuitry is further configured to: combine first angular information of the first quantity of range-Doppler-maps with second angular information of the second quantity of range-Doppler-maps by applying a quantity of different phase offset candidates to the second angular information; and determine, for each phase offset candidate, an angular spectrum along a synthesized virtual receive channel domain including the first quantity of range-Doppler-maps and the second quantity of range-Doppler-maps, wherein the phase offset candidate yielding a highest angular spectrum denotes a correct compensation of phase ambiguity between the first quantity of range-Doppler-maps and the second quantity of range-Doppler-maps. ### Claim 15 A multiple-input multiple-output (MIMO) radar apparatus, comprising receiver circuitry comprising a receiver channel, configured to: receive, during a first receive time interval, a first receive signal corresponding to a superposition of reflections of concurrent first frequency-modulated continuous-wave (FMCW) radar signals transmitted, via a first subset of transmit channels of a plurality of transmit channels, with different first phase offsets among different transmit channels of the first subset in accordance with a first predefined code division multiplexing scheme, wherein the first subset of transmit channels comprises a first transmit channel associated with a first phase modulation vector, and a second transmit channel, associated with a second phase modulation vector different from the first phase modulation vector; and receive, during a second receive time interval subsequent to the first receive time interval, a second receive signal corresponding to a superposition of reflections of concurrent second FMCW radar signals transmitted, via a second subset of transmit channels of the plurality of transmit channels, with different second phase offsets among different transmit channels of the second subset in accordance with a second predefined code division multiplexing scheme, wherein the second subset of transmit channels comprises a third transmit channel associated with a third phase modulation vector, and a fourth transmit channel, associated with a fourth phase modulation vector different from the third phase modulation vector. ### Claim 16 A multiple-input multiple-output (MIMO) radar apparatus, comprising: transmitter circuitry, comprising a plurality of transmit channels, configured to: transmit, via a first subset of transmit channels of the plurality of transmit channels and during a first transmit time interval, concurrent first frequency-modulated continuous-wave (FMCW) radar signals with different first phase offsets among different transmit channels of the first subset of transmit channels in accordance with a first predefined code division multiplexing scheme, wherein the first subset of transmit channels comprises a first transmit channel associated with a first phase modulation vector, and a second transmit channel, associated with a second phase modulation vector different from the first phase modulation vector, and transmit, via a second subset of transmit channels of the plurality of transmit channels and during a second transmit time interval subsequent to the first transmit time interval, concurrent second FMCW radar signals with different second phase offsets among different transmit channels of the second subset of transmit channels in accordance with a second predefined code division multiplexing scheme, wherein the second subset of transmit channels comprises a third transmit channel associated with a third phase modulation vector, and a fourth transmit channel, associated with a fourth phase modulation vector different from the third phase modulation vector; and receiver circuitry, comprising a receiver channel, configured to: receive, during a first receive time interval, a first receive signal corresponding to reflections of the first FMCW radar signals; and receive, during a second receive time interval subsequent to the first receive time interval, a second receive signal corresponding to reflections of the second FMCW radar signals. ### Claim 17 A multiple-input multiple-output (MIMO) radar transmission method, comprising: transmitting, via a first subset of transmit channels of a plurality of transmit channels and during a first time interval, concurrent first frequency-modulated continuous-wave (FMCW) radar signals with different first phase offsets among different transmit channels of the first subset in accordance with a first predefined code division multiplexing scheme, wherein the first subset of transmit channels comprises a first transmit channel associated with a first phase modulation vector, and a second transmit channel, associated with a second phase modulation vector different from the first phase modulation vector; and transmitting, via a second subset of transmit channels of the plurality of transmit channels and during a second time interval subsequent to the first time interval, concurrent second FMCW radar signals with different second phase offsets among different transmit channels of the second subset in accordance with a second predefined code division multiplexing scheme, wherein the second subset of transmit channels comprises a third transmit channel associated with a third phase modulation vector, and a fourth transmit channel, associated with a fourth phase modulation vector different from the third phase modulation vector. ### Claim 18 A multiple-input multiple-output (MIMO) radar reception method, the method comprising receiving, during a first receive time interval, a first receive signal corresponding to a superposition of reflections of concurrent first frequency-modulated continuous-wave (FMCW) radar signals transmitted, via a first subset of transmit channels of a plurality of transmit channels, with different first phase offsets among different transmit channels of the first subset of transmit channels in accordance with a first predefined code division multiplexing scheme, wherein the first subset of transmit channels comprises a first transmit channel associated with a first phase modulation vector, and a second transmit channel, associated with a second phase modulation vector different from the first phase modulation vector; and receiving, during a second receive time interval subsequent to the first receive time interval, a second receive signal corresponding to a superposition of reflections of concurrent second FMCW radar signals transmitted, via a second subset of transmit channels of the plurality of transmit channels, with different second phase offsets among different transmit channels of the second subset of transmit channels in accordance with a second predefined code division multiplexing scheme, wherein the second subset of transmit channels comprises a third transmit channel associated with a third phase modulation vector, and a fourth transmit channel, associated with a fourth phase modulation vector different from the third phase modulation vector. ### Claim 19 (depends on 16) The MIMO radar apparatus of claim 16, wherein the first transmit time interval and the second transmit time interval are different from each other and of a time division multiplexing scheme, and wherein the first subset of transmit channels are not transmitted during the second transmit time interval and the second subset of transmit channels are not transmitted during the first transmit time interval. ### Claim 20 (depends on 16) The MIMO radar apparatus of claim 16, wherein the first transmit channel is disjoint from the second transmit channel, and wherein the third transmit channel is disjoint from the fourth transmit channel.