Widely spaced radar nodes with unambiguous beam pattern

A vehicle, comprising:

• a radar array including a plurality of radar nodes arranged along a surface of the vehicle, wherein each radar node includes a first transmitter at one end of the node and a second transmitter at a second end of the node with a plurality of receivers aligned between the first transmitter and the second transmitter, and wherein at least one of an aperture length of the radar node and a spacing between nodes is varied;
• and
• a processor configured to:
• activate a transmitter of the radar array to generate a test pulse;
• receive, at a receiver of the radar array, a reflection of the test pulse from an object;
• and
• determine an angular location of the object from the reflection of the test pulse.

A method of driving a vehicle, comprising:

• transmitting a test pulse from at least one of a first transmitter at one end of a node of a radar array arranged on the vehicle and a second transmitter at another end of the node, the node including a plurality of receivers aligned between the first transmitter and the second transmitter and defining an aperture length, the radar array including a plurality of radar nodes, wherein at least one of an aperture length of the radar nodes and a spacing between nodes is varied;
• receiving a reflection of the test pulse from an object at a receiver of one of the plurality of nodes;
• determining an angular location of the object from the reflection of the test pulse from the object;
• and
• changing a trajectory of the vehicle with respect to the object using the determined angular location of the object.