Radar system that uses velocity labeled multiplexing for generating detections
A fast ramp frequency modulated continuous wave (FMCW) radar system ( 100 ) is described herein, where the fast ramp FMCW radar system is configured to employ velocity labeled multiplexing (VLM) in connection with generating detections for objects in a scene. Transmitters ( 110, 112 ) in the radar system are assigned different velocity labels that corresponds to different phase rates of change of consecutive chirps in signals emitted by the transmitters. Approaches for generating detections based upon echo signals that correspond to the emitted signals are also described herein.
1. A fast ramp frequency-modulated continuous wave (FMCW) radar system comprising:
a signal generator that generates a signal;
an array of transmitting antennas that simultaneously emit respective sequences of chirps based upon the signal generated by the signal generator, wherein each transmitting antenna in the array of transmitting antennas has a unique phase rate of change assigned thereto, where each unique phase rate of change corresponds to a velocity offset within a velocity spectrum of the fast ramp FMCW radar system such that each transmitting antenna in the array of transmitting antennas is assigned a unique velocity offset within the velocity spectrum, and further wherein the velocity offsets that are respectively assigned to the transmitting antennas in the array are non-uniformly distributed over the velocity spectrum of the fast ramp FMCW radar system such that differences between adjacent velocity offsets corresponding to any two adjacent velocity peaks for a single target are non-identical;
an array of receiving antennas that are configured to detect echo signals, wherein the echo signals are respectively based upon the sequences of chirps emitted by the array of transmitting antennas, wherein each sequence of chirps in the sequences of chirps has the unique velocity offset assigned to the respective transmitting antenna that emitted the sequence of chirps, and further where the sequence of chirps have reflected off of an object; and
processing circuitry that is in communication with the array of receiving antennas, where the processing circuitry is configured to perform acts comprising:
performing a non-coherent integration across the array of receiving antennas based on the echo signals to generate a heat map representation that identifies potential range-velocity bins of the object;
processing the potential range-velocity bins to resolve velocity ambiguities using the unique velocity offsets assigned to the transmitting antennas; and
based on the processed range-velocity bins, computing:
a velocity of the object relative to the fast ramp FMCW radar system;
a range of the object relative to the fast ramp FMCW radar system; and
a direction of arrival of the echo signals.
2. The fast ramp FMCW radar system of claim 1 , wherein the array of transmitting antennas comprises between two and fifty antennas.
3. The fast ramp FMCW radar system of claim 1 , wherein the transmitting antennas in the array of transmitting antennas are uniformly spaced with respect to one another.
4. The fast ramp FMCW radar system of claim 1 , wherein the transmitting antennas in the array of transmitting antennas are non-uniformly spaced with respect to one another.
5. The fast ramp FMCW radar system of claim 1 , wherein the array of transmitting antennas is a two-dimensional array with antennas arranged horizontally and vertically offset from one another.
6. The fast ramp FMCW radar system of claim 1 , wherein an autonomous vehicle (AV) executes a driving maneuver based upon at least one of the computed velocity, the computed-range, or the computed direction of arrival.
7. The fast ramp FMCW radar system of claim 1 , where computing the velocity of the object comprises:
performing a velocity Fast Fourier Transform (FFT) based upon samples extracted from the echo signals to determine velocity bins for the object, wherein the computed velocity corresponds to a velocity bin in the velocity bins; and
performing demultiplexing based upon output of the non-coherent integration, wherein the velocity of the object is computed based upon performance of the demultiplexing.
8. The fast ramp FMCW radar system of claim 7 , where performing the velocity FFT comprises performing the velocity FFT over slow time samples that have been sampled from the echo signals to obtain characteristic peaks in the velocity spectrum, wherein the characteristic peaks are offset from one another by the velocity offsets of the transmitting antennas, and wherein computing the velocity of the object relative to the fast ramp FMCW radar system further comprises arranging a data set of one coherent processing interval in a three-dimensional complex-valued matrix, wherein the data set includes the characteristic peaks in the velocity spectrum, and further wherein the velocity is computed based upon the three-dimensional complex-valued matrix.
9. The fast ramp FMCW radar system of claim 8 , where computing the velocity of the object further comprises extracting virtual receivers from the three-dimensional complex-valued matrix to generate an extended data cube, wherein the velocity of the object is computed based upon data in the extended data cube.
10. The fast ramp FMCW radar system of claim 9 , wherein computing the velocity of the object further comprises performing beamforming on the data in the extended data cube for the virtual receivers, wherein the velocity of the object is computed based upon the beamforming.
11. The fast ramp FMCW radar system of claim 7 , where computing the velocity of the object further comprises:
generating a two-dimensional heat map based upon the echo signals, where the velocity of the object is computed based upon the two-dimensional heat map.
12. The fast ramp FMCW radar system of claim 11 , where computing the velocity of the object further comprises:
detecting, from the heat map, a range-velocity gate for the object within a velocity fraction in the velocity spectrum, wherein the velocity of the object is computed based upon the detected range-velocity gate.
13. The fast ramp FMCW radar system of claim 11 , where computing the velocity of the object further comprises:
using a range-dependent number of transmitters to identify and detect a velocity gate based upon the heat map.
14. A method comprising:
generating, by a signal generator of a fast ramp frequency-modulated continuous wave (FMCW) radar system, a signal; and
based upon the signal, transmitting, by an array of transmitting antennas of the fast ramp FMCW radar system, transmit signals that include respective sequences of chirps, where the transmit signals are assigned differing phase rates of change that respectively correspond to velocity offsets in a velocity spectrum of a receiver of the fast ramp FMCW radar system, where the velocity offsets are non-uniformly distributed across the velocity spectrum of the receiver of the fast ramp FMCW radar system such that each transmitting antenna in the array of transmitting antennas is assigned to a unique velocity offset within the velocity spectrum and that differences between adjacent velocity offsets corresponding to any two adjacent velocity peaks for a single target are non-identical;
detecting, by an array of receiving antennas of the fast ramp FMCW radar system, echo signals, where the echo signals are based upon the transmit signals transmitted by the array of transmitting antennas, and further where the signals have reflected off of an object;
performing a non-coherent integration across the array of receiving antennas based on the echo signals to generate a heat map representation that identifies potential range-velocity bins of the object;
processing the potential range-velocity bins to resolve velocity ambiguities using the unique velocity offsets assigned to the transmitting antennas; and
based on the processed range-velocity bins, computing:
velocity of the object relative to the fast ramp FMCW radar system;
a range of the object relative to the fast ramp FMCW radar system; and
a direction of arrival of the echo signals.
15. The method of claim 14 , wherein a whole number results when a multiple of 360 is divided by each phase rate of change.
16. The method of claim 14 , wherein transmitting the transmit signals comprises:
transmitting, by a first transmitting antenna in the array of transmitting antennas, a first transmit signal that includes a first sequence of chirps, wherein the first sequence of chirps includes a first chirp having a first phase immediately followed by a second chirp having a second phase, and further wherein a difference between the first phase and the second phase is based upon a first phase rate of change assigned to the first transmitting antenna; and
transmitting, by a second transmitting antenna in the array of transmitting antennas, a second transmit signal that includes a second sequence of chirps, wherein the second sequence of chirps includes a third chirp having a third phase immediately followed by a fourth chirp having a fourth phase, and further wherein a difference between the third phase and the fourth phase is based upon a second phase rate of change assigned to the second transmitting antenna, the first phase rate of change being different from the second phase rate of change.
17. The method of claim 14 , where the array of transmitting antennas include between two and fifty antennas that are non-uniformly spaced with respect to one another.
18. The method of claim 14 , further comprising controlling at least one of a propulsion system, a braking system, or a steering system of an autonomous vehicle (AV) based upon the computed velocity of the object relative to the fast ramp FMCW radar system.
19. The method of claim 14 , wherein computing the velocity of the object relative to the fast ramp FMCW radar system comprises:
performing a velocity Fast Fourier Transform (FFT) based upon samples extracted from the echo signals to determine velocity bins for the object, wherein the computed velocity corresponds to a velocity bin in the velocity bins; and
performing demultiplexing based upon output of the non-coherent integration, wherein the velocity of the object is computed based upon performance of the demultiplexing.
20. An autonomous vehicle (AV) comprising:
a fast ramp frequency-modulated continuous wave (FMCW) radar system, the fast ramp FMCW radar system configured to perform acts comprising:
generating, by a signal generator of the fast ramp FMCW radar system, a signal;
based upon the signal, transmitting, by an array of transmitting antennas of the fast ramp FMCW radar system, transmit signals that include respective sequences of chirps, where the transmit signals are assigned differing phase rates of change that respectively correspond to velocity offsets in a velocity spectrum of a receiver of the fast ramp FMCW radar system, where the velocity offsets are non-uniformly distributed across the velocity spectrum of the receiver of the fast ramp FMCW radar system such that each transmitting antenna in the array of transmitting antennas is assigned to a unique velocity offset within the velocity spectrum and that differences between adjacent velocity offsets corresponding to any two adjacent velocity peaks for a single target are non-identical;
detecting, by an array of receiving antennas of the fast ramp FMCW radar system, echo signals, where the echo signals are based upon the transmit signals transmitted by the array of transmitting antennas, and further where the signals have reflected off of an object;
performing a non-coherent integration across the array of receiving antennas based on the echo signals to generate a heat map representation that identifies potential range-velocity bins of the object;
processing the potential range-velocity bins to resolve velocity ambiguities using the unique velocity offsets assigned to the transmitting antennas; and
based on the processed range-velocity bins, computing:
velocity of the object relative to the fast ramp FMCW radar system;
a range of the object relative to the radar system; and
a direction of arrival of the echo signals.