# US 2019/0170870 A1 · A vehicle radar for environmental detection

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- Number: US 2019/0170870 A1
- Document ID: US20190170870A1
- Status: Published application
- Kind: A1
- Application number: 16/313,767
- Filed: 2017-06-29
- Published: 2019-06-06
- Earliest claimed: 2016-07-01
- Assignees: Veoneer Sweden AB
- Inventors: SEBASTIAN MARSCH; YI ZHOU
- Web page: https://patentgrep.com/patent/US20190170870A1

## CPC

- G01S 13/931: of land vehicles
- G01S 13/34: using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S 13/343: {using sawtooth modulation}
- G01S 13/895: {Side looking radar [SLR]}
- G01S 13/9017: {with time domain processing of the SAR signals in azimuth (G01S13/9005 takes precedence)}
- G01S 7/356: {involving particularities of FFT processing}
- G01S 2013/0263: {Passive array antenna}
- G01S 2013/9314: {Parking operations}
- G01S 2013/93274: {on the side 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 vehicle FMCW Doppler radar system (3) and related method using transmitter arrangement (4), a receiver arrangement (7) and at least one control unit (15). The radar system (3) is arranged to transmit signals (11), to receive reflected signals (12), and to obtain a plurality of measure results from the received reflected signals (12) along a main field of view (10) during at least two radar cycles where each radar cycle including a plurality of FMCW ramps. For each radar cycle, the control unit (15) is arranged to form a spectrum density map (30) from measuring points (14) along the main field of view (10), where each measure result results in a measuring point (14). The control unit (15) is arranged to combine at least two spectrum density maps to form a combined spectrum density map.

## Claims

### Claim 1

A vehicle FMCW, Doppler radar system comprising, a transmitter arrangement, a receiver arrangement and at least one control unit, the radar system being adapted to be mounted in a vehicle, where the transmitter arrangement includes a transmitter antenna arrangement for transmitting a transmitted signal, and the receiver arrangement includes a receiver antenna arrangement arranged for receiving a reflected signal, the radar system being arranged to obtain a plurality of measure results from a plurality of reflected signals along a main field of view during at least two radar cycles where each of the radar cycles forms a plurality of FMCW ramps, for each of the radar cycles, the control unit is arranged to form a spectrum density map from a plurality of measuring points along the main field of view, where the control unit is configured to combine at least two of the spectrum density maps to form a combined spectrum density map.

### Claim 2 (depends on 1)

A radar system according to claim 1, wherein the spectrum density map includes a range and an angle spectrum.

### Claim 3 (depends on 1)

A radar system according to claim 1 further comprising, the control unit is arranged to calculate the spectrum density map by use of data from a range FFT, function or a Doppler FFT function, where the radar system includes a DSP, function that is arranged to perform the FFT function.

### Claim 4 (depends on 1)

A radar system according to claim 1 further comprising, the control unit is arranged to determine a phase difference between adjacent of the FMCW ramps for each of the measuring points, to determine a measurement vector including a direction and a magnitude for each of the measuring points, and to perform a rotation of each of the measurement vector with the phase difference such that the rotated measurement vectors that correspond to the measuring points add in phase.

### Claim 5 (depends on 1)

A radar system according to claim 1 further comprising, the receiver antenna arrangement includes at least two receiver antenna devices with corresponding receive channels, where the control unit is arranged to combine the receive channels of the receiver antenna devices by a beamforming, where a wavefront corresponding to the received reflected signals reaches an adjacent of the receiver antenna devices with a delay time that corresponds to a certain delay distance and a certain delay phase that depends on a direction of arrival, angle, where the control unit is arranged to compensate for the delay phase by use of a compensating rotation of a determined complex signal for each of the antenna devices.

### Claim 6 (depends on 1)

A radar system according to claim 1 further comprising, the radar system is arranged to determine whether there is sufficient parking space available for a vehicle.

### Claim 7

A method for a vehicle FMCW, Doppler radar system that is for use in a vehicle, where the method comprises the steps of:
transmitting a plurality of transmitted signals;
receiving a plurality of reflected signals; and
obtaining a plurality of measure results from the received reflected signals along a main field of view during at least two radar cycles.
for each of the radar cycles, forming a spectrum density map from measuring points along the main field of view, where each of the measure results are related to in a measuring point; and
combining at least two of the spectrum density maps to form a combined spectrum density map.

### Claim 8 (depends on 7)

The method according to claim 7 further comprising, each of the spectrum density maps uses a range and an angle spectrum.

### Claim 9 (depends on 7)

The method according to claim 7 further comprising, each of the spectrum density maps is calculated by either using data from a range FFT, function or using a Doppler FFT function.

### Claim 10 (depends on 7)

The method according to claim 7 further comprising the steps:
determining a measurement vector including a direction and a magnitude, for each of the FMCW ramps;
determining a phase difference between adjacent of the FMCW ramps; and
performing a rotation of measurement vectors using a number of the phase differences, such that the rotated measurement vectors that correspond to the measuring points add in phase.

### Claim 11 (depends on 7)

The method according to claim 7 further comprising, providing the radar system with at least two receiver antenna devices with corresponding receive channels, and combining the receive channels of the receiver antenna devices using a beamforming, where a wavefront corresponding to the received reflected signals reach adjacent of the receiver antenna devices with a delay time that corresponds to a certain delay distance and a certain delay phase that depends on a direction of arrival, angle, compensating for the delay phase by performing a compensating rotation of a determined complex signal for each of the antenna devices.

### Claim 12 (depends on 7)

The method according to claim 7 wherein, the method includes determining whether there is sufficient parking space available for a vehicle.