# US 12,216,196 B2 · Methods and apparatus for providing a 360-degree field-of-view radar system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,216,196 B2 - Document ID: US12216196B2 - Status: Granted - Kind: B2 - Application number: 17/465,059 - Filed: 2021-09-02 - Published: 2022-03-24 - Granted: 2025-02-04 - Earliest claimed: 2020-09-18 - Assignees: Nuro, Inc. - Applicants: Nuro, Inc. - Inventors: Jingqing Huang; Peter Jon Kardassakis; Zachary Odenheimer; Russell Leigh Smith - Web page: https://patentgrep.com/patent/US12216196B2 ## CPC - G01S 13/87: Combinations of radar systems, e.g. primary radar and secondary radar - G01S 13/426: {Scanning radar, e.g. 3D radar (G01S13/66 takes precedence)} - G01S 13/931: of land vehicles - H05K 1/0243: {Printed circuits associated with mounted high frequency components} - G01S 2013/93273: {on the top of the vehicles} - H05K 2201/10098: Components for radio transmission, e.g. radio frequency identification [RFID] tag, printed or non-printed antennas - 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 - H05K: PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS ## Abstract A plurality of radar units is included in an overall radar module such that the plurality of radar units effectively cooperates to provide an approximately 360-degree field-of-view over a relatively long range. The overall radar module may include a ring-shaped printed circuit board, and a rim that includes multiple radar units positioned to substantially cover a 360-degree field-of-view. Radar units of the overall radar module may be grouped together such that two or more radar units may operate substantially synchronously, e.g., as a substantially single radar unit. ## Claims ### Claim 1 A radar system comprising: a set of radar units, the set of radar units including a first plurality of radar units and a second plurality of radar units, the first plurality of radar units arranged to provide up to an approximately 360-degree field-of-view; and a radar synchronizing controller coupled to the first plurality of radar units and configured to: substantially synchronously trigger operation of two or more radar units of the first plurality of radar units such that the two or more radar units operate together as a substantially single virtual radar unit; and determine a number of the second plurality of radar units to be synchronized and added to the first plurality of radar units based on one or more of a desired detection performance, a desired field-of-view, or a desired resolution. ### Claim 2 (depends on 1) The radar system of claim 1, wherein the radar synchronizing controller is configured to trigger synchronized operation of two or more radar units, but less than the first plurality of radar units, so that the two or more radar units operate together as a substantially single virtual radar unit having less than the approximately 360-degree field-of-view. ### Claim 3 (depends on 1) The radar system of claim 1, wherein the two or more radar units within a respective group operate substantially synchronously. ### Claim 4 (depends on 3) The radar system of claim 3, wherein the radar synchronizing controller is further configured to determine which radar units to include in a particular group and to process data obtained by two or more radar units in the particular group in order to compare and/or to refine velocity and/or location information relating to a detected object. ### Claim 5 (depends on 3) The radar system of claim 3, wherein the radar synchronizing controller is configured to switch between triggering operation of one or more groups of radar units as virtual radar units for less than the approximately 360-degree field-of-view for a first period of time, and triggering synchronized operation of the first plurality of radar units for the approximately 360-degree field-of-view for a second period of time. ### Claim 6 (depends on 3) The radar system of claim 3, wherein the radar synchronizing controller is configured to simultaneously trigger operation of one or more groups of radar units as virtual radar units for less than the approximately 360-degree field-of-view and trigger operation of the first plurality of radar units for the approximately 360-degree field-of-view. ### Claim 7 (depends on 3) The radar system of claim 3, wherein the first plurality of radar units are positioned at substantially evenly spaced angles in a substantially circular arrangement. ### Claim 8 (depends on 7) The radar system of claim 7, wherein the two or more radar units within a respective group are adjacent to each other in the substantially circular arrangement, and wherein the two or more radar units are associated with illumination patterns cooperating to provide up to the approximately 360-degree field-of-view. ### Claim 9 (depends on 7) The radar system of claim 7, wherein the two or more radar units within a respective group are non-adjacent to each other in the substantially circular arrangement, and wherein the two or more radar units are associated with illumination patterns cooperating to provide up to the approximately 360-degree field-of-view. ### Claim 10 (depends on 1) The radar system of claim 1, and further comprising a substantially ring-shaped printed circuit board on which the first plurality of radar units are mounted in a circular arrangement, the substantially ring-shaped printed circuit board having a circular central opening. ### Claim 11 (depends on 1) The radar system of claim 1, and further comprising a sensor stack housing configured to contain the first plurality of radar units, the sensor stack housing configured to be mounted on top of a vehicle and includes at least one sensor other than the radar system. ### Claim 12 (depends on 1) The radar system of claim 1, wherein the radar system is positioned on top of a vehicle. ### Claim 13 A radar system comprising: a set of radar units, the set of radar units including a first plurality of radar units and a second plurality of radar units, the first plurality of radar units each including a transmitter, a receiver and at least one antenna, and the first plurality of radar units being arranged to provide up to an approximately 360-degree field-of-view; and a radar synchronizing controller coupled to the first plurality of radar units and configured to: trigger, at any given time interval, synchronized operation of the first plurality of radar units so as to obtain radar data for the approximately 360-degree field-of-view, or to trigger synchronized operation of two or more radar units, but less than the first plurality of radar units, so that the two or more radar units operate together a substantially single virtual radar unit having less than the approximately 360-degree field-of-view; and determine a number of the second plurality of radar units to be synchronized and added to the first plurality of radar units based on one or more of a desired detection performance, a desired field-of-view, or a desired resolution. ### Claim 14 (depends on 13) The radar system of claim 13, wherein the two or more radar units within a respective group operate substantially synchronously. ### Claim 15 (depends on 13) The radar system of claim 13, wherein the first plurality of radar units are positioned at substantially evenly spaced angles in a substantially circular arrangement. ### Claim 16 (depends on 15) The radar system of claim 15, wherein the two or more radar units within a respective group are adjacent or non-adjacent to each other in the substantially circular arrangement, and wherein the two or more radar units are associated with illumination patterns cooperating to provide up to the approximately 360-degree field-of-view. ### Claim 17 A method comprising: providing a set of radar units, the set of radar units including a first plurality of radar units and a second plurality of radar units, the first plurality of radar units arranged to produce up to an approximately 360-degree field-of-view; synchronizing operation of two or more radar units of the first plurality of radar units such that the two or more radar units operate together as a substantially single virtual radar unit; determining a number of the second plurality of radar units to be synchronized and added to the first plurality of radar units based on one or more of a desired detection performance, a desired field-of-view, or a desired resolution. ### Claim 18 (depends on 17) The method of claim 17, wherein synchronizing comprises triggering synchronized operation of two or more radar units, but less than the first plurality of radar units, so that the two or more radar units operate together as a substantially single virtual radar unit having less than the approximately 360-degree field-of-view. ### Claim 19 (depends on 17) The method of claim 17, wherein the two or more radar units within a respective group operate substantially synchronously. ### Claim 20 (depends on 19) The method of claim 19, further comprising: determining which radar units to include in a particular group and to process data obtained by two or more radar units in the particular group in order to compare and/or to refine velocity and/or location information relating to a detected object. ### Claim 21 (depends on 19) The method of claim 19, further comprising: switching between triggering operation of one or more groups of radar units as virtual radar units for less than the approximately 360-degree field-of-view for a first period of time, and triggering synchronized operation of the first plurality of radar units for the approximately 360-degree field-of-view for a second period of time. ### Claim 22 (depends on 19) The method of claim 19, wherein synchronizing comprises: simultaneously triggering operation of one or more groups of radar units as virtual radar units for less than the approximately 360-degree field-of-view and triggering operation of the first plurality of radar units for the approximately 360-degree field-of-view. ### Claim 23 (depends on 19) The method of claim 19, further comprising: selecting the two or more radar units within a respective group such that the two or more radar units are adjacent to each other positioned at substantially evenly spaced angles in a substantially circular arrangement, and wherein the two or more radar units are associated with illumination patterns cooperating to provide up to the approximately 360-degree field-of-view. ### Claim 24 (depends on 19) The method of claim 19, further comprising: selecting the two or more radar units within a respective group such that the two or more radar units are non-adjacent to each other in a substantially circular arrangement with antennas of respective radar units being positioned at substantially evenly spaced angles in a substantially circular arrangement, and wherein the two or more radar units are associated with illumination patterns cooperating to provide up to the approximately 360-degree field-of-view.