Digital frequency modulated continuous wave radar using handcrafted constant envelope modulation

1. A radar system for a vehicle, the radar system comprising:

at least one transmitter configured for installation and use on a vehicle;

wherein each of the at least one transmitter comprises:

a frequency generator configured to generate a radio signal with a desired center frequency;

a code generator configured to generate a sequence of chips at a selected chiprate, wherein a modulation interval between successive chips is a reciprocal of the chiprate, and wherein the generated sequence of chips is a selected sequence of chips selected from a plurality of chip sequences;

a modulator configured to frequency modulate the radio signal using shaped frequency pulses, wherein the shaped frequency pulses correspond to a first signal, the frequency of which deviates from the desired center frequency during each of the modulation intervals according to a selected pulse shape, wherein the selected pulse shape is determined by the selected sequence of chips generated by the code generator, and wherein the selected sequence of chips is selected to realize the selected pulse shape;

a constant-envelope power amplifier configured to amplify the frequency modulated radio signal at a desired transmit power level; and

an antenna for transmitting an amplified and frequency modulated radio signal; and

at least one receiver configured for installation and use on the vehicle, and configured to receive a radio signal that is the transmitted amplified and frequency modulated radio signal reflected from objects in the environment.

2. The radar system of claim 1 , wherein the frequency generator is a carrier frequency generator.

3. The radar system of claim 1 , wherein the radio signal is a carrier signal.

4. The radar system of claim 1 , wherein the frequency deviates from the desired center frequency during each of the modulation intervals according to a selected pulse shape that is selected from a set of predetermined smooth frequency-deviation pulse shapes.

5. A radar system for a vehicle, the radar system comprising:

at least one transmitter configured for installation and use on a vehicle;

wherein each of the at least one transmitter comprises:

a frequency generator configured to generate a radio signal with a desired center frequency;

a code generator configured to generate a sequence of chips at a selected chiprate, wherein a modulation interval between successive chips is a reciprocal of the chiprate;

a modulator configured to frequency modulate the radio signal using shaped frequency pulses, wherein the shaped frequency pulses correspond to a first signal, the frequency of which deviates from the desired center frequency during each of the modulation intervals according to a selected pulse shape, and wherein the selected pulse shape is determined by the sequence of chips generated by the code generator, wherein the frequency deviates from the desired center frequency during each of the modulation intervals according to a selected pulse shape that is selected from a set of predetermined smooth frequency-deviation pulse shapes, and wherein the modulator comprises:

a waveform memory configured to store a number of precomputed I, Q waveforms, each precomputed at a number of samples for each of the modulation intervals, to correspond to a frequency modulated signal with one of the sets of predetermined smooth frequency-deviation pulse shapes;

waveform selection logic configured to select one of the precomputed I, Q waveforms depending on the current chip value and those of its neighbors, wherein the total number of neighboring values on which the selection depends corresponding in number and value with the values used for the precomputation of the selected I, Q waveform;

a digital-to-analog convertor configured to convert each I and Q samples of the selected I, Q waveform to corresponding analog I and Q signals;

an I, Q modulator configured to modulate the radio signal with the analog I and Q signals to produce the frequency modulated radio signal;

a constant-envelope power amplifier configured to amplify the frequency modulated radio signal at a desired transmit power level; and

an antenna for transmitting an amplified and frequency modulated radio signal; and

at least one receiver configured for installation and use on the vehicle, and configured to receive a radio signal that is the transmitted amplified and frequency modulated radio signal reflected from objects in the environment.

6. The radar system of claim 1 , wherein the desired center frequency is in a wave region of 70 GHz to 80 GHz.

7. The radar system of claim 1 , wherein the code generators of each of the at least one transmitter are configured to produce different codes.

8. The radar system of claim 1 , wherein the frequency generator is configured to produce the first signal having a same center frequency as the radio signal and having a constant relative phase.

9. The radar system of claim 8 , wherein the frequency generator comprises a quadrature local oscillator with provision for injection locking to a common sub-harmonic injection signal.

10. The radar system of claim 1 , wherein pulse shapes are frequency deviation pulse shapes defined by a number of samples per each of the modulation intervals, and wherein an integral of each frequency deviation pulse shape over its entire impulse response length produces an incremental signal phase change of +90 degrees.

11. The radar system of claim 1 , wherein the selected pulse shape is determined by a limited number of successive chips.

12. The radar system of claim 11 , wherein the limited number of successive ones of the chips which determine a selected pulse shape is a maximum of three.

13. The radar system of claim 11 , wherein the limited number of successive ones of the chips with determine a selected pulse shape is a maximum of two.

14. The radar system of claim 1 , wherein the code generator produces a sequence of bits which is a maximum length sequence.

15. A radar system for a vehicle, the radar system comprising:

at least one transmitter configured for installation and use on a vehicle;

wherein each of the at least one transmitter is configured to generate a radio signal with a desired center frequency;

wherein each of the at least one transmitter is configured to generate a sequence of chips at a selected chiprate, wherein a modulation interval between successive chips is a reciprocal of the chiprate, and wherein the generated sequence of chips is a selected sequence of chips selected from a plurality of chip sequences;

wherein each of the at least one transmitter is configured to generate a frequency modulated radio signal by frequency modulating the radio signal using shaped frequency pulses, wherein the shaped frequency pulses correspond to a first signal, the frequency of which deviates from the desired center frequency during each of the modulation intervals according to a selected pulse shape, wherein the selected pulse shape is determined by the generated sequence of chips, and wherein the selected sequence of chips is selected to realize the selected pulse shape;

wherein the at least one transmitter is configured to transmit the frequency modulated radio signal; and

at least one receiver configured for installation and use on the vehicle, wherein the at least one receiver is configured to receive a radio signal that is the transmitted frequency modulated radio signal reflected from objects in the environment.