Vehicle radar system

Abstract

The invention provides a vehicle radar system. A radar system includes: a first transmission antenna positioned to transmit a radar wave in an external direction with respect to a vehicle on which a radar unit is mounted; a second transmit antenna positioned to transmit radar waves into a passenger compartment of the vehicle; at least one first frequency multiplier positioned to increase the frequency of the signal from the wave generator to the first transmit antenna to a first frequency; and at least one second frequency multiplier positioned to increase the frequency of the signal from the wave generator to the second transmit antenna to a second frequency lower than the first frequency.

Description

Technical Field

[0001] This disclosure describes a radar system for vehicles. Background Technology

[0002] Modern vehicles may include radar. Radar transmits radio waves and receives reflections of those radio waves to detect physical objects in the environment. Radar can use direct propagation, i.e., measuring the time delay between the transmission and reception of radio waves, and / or indirect propagation, i.e., the frequency-modulated continuous wave (FMCW) method, i.e., measuring the frequency change between the transmitted and received radio waves. Summary of the Invention

[0003] The radar system includes: a first transmitting antenna positioned to transmit radar waves in an external direction relative to the vehicle on which the radar system is mounted; a second transmitting antenna positioned to transmit radar waves into the passenger compartment of the vehicle; at least one first frequency multiplier positioned to transmit a signal from a wave generator to the first transmitting antenna; and at least one second frequency multiplier positioned to transmit a signal from the wave generator to the second transmitting antenna. The at least one first frequency multiplier is configured to increase the frequency of the signal to a first frequency. The at least one second frequency multiplier is configured to increase the frequency of the signal to a second frequency. The second frequency is lower than the first frequency. Advantageously, the radar system utilizes a single wave generator for both internal and external sensing. Simultaneously, hardware components (e.g., the first and second frequency multipliers) configure the radar system to transmit radar waves at different frequencies for internal and external sensing. The first frequency is used for external sensing and can be tuned to detect objects at a certain distance from the vehicle. The second frequency is lower and used for internal sensing. The second frequency can be tuned to detect human occupants at a shorter distance from the antenna.

[0004] A radar system includes: a first transmitting antenna positioned to transmit radar waves in an external direction relative to a vehicle on which a radar unit is mounted; a second transmitting antenna positioned to transmit radar waves into the passenger compartment of the vehicle; at least one first frequency multiplier positioned to increase the frequency of a signal from a wave generator to the first transmitting antenna to a first frequency; and at least one second frequency multiplier positioned to increase the frequency of a signal from the wave generator to the second transmitting antenna to a second frequency lower than the first frequency.

[0005] In the example, the wave generator may include a local oscillator configured to output a reference frequency.

[0006] In the example, the radar system may also include a frequency synthesizer positioned to receive a signal from a wave generator and output the signal to at least one first frequency multiplier and at least one second frequency multiplier, the frequency synthesizer being configured to increase the frequency of the signal.

[0007] In one example, the radar system may further include: a first receiving antenna positioned to receive reflected radar waves emitted by a first transmitting antenna; and a first mixer positioned to receive from the first receiving antenna and from at least one first frequency multiplier. In other examples, the radar system may further include: a second receiving antenna positioned to receive reflected radar waves emitted by a second transmitting antenna; and a second mixer positioned to receive from the second receiving antenna and from at least one second frequency multiplier.

[0008] In another example, the radar system may further include a first analog-to-digital converter (ADC) configured to receive a first intermediate frequency (IF) output from a first mixer. In yet another example, the radar system may further include: a second receiving antenna configured to receive reflected radar waves emitted by a second transmitting antenna; a second mixer configured to receive from the second receiving antenna and from at least one first frequency multiplier; and a second ADC configured to receive a second IF output from the second mixer.

[0009] In the example, the first frequency can be at least 76 GHz.

[0010] In the example, the second frequency could be up to 60 GHz.

[0011] In this example, the radar system may also include a circuit board, a wave generator, and at least one first frequency multiplier mounted on the circuit board. In other examples, at least one second frequency multiplier may be mounted on the circuit board.

[0012] In another example, the radar system may also include a cable connecting a second transmitting antenna to a circuit board, the second transmitting antenna being spaced apart from the circuit board. In yet another example, the second frequency may be in the range of 1 to 5 GHz.

[0013] In the example, the first transmitting antenna can be oriented to transmit radar waves in a vehicle-rearward direction relative to the vehicle.

[0014] In the example, the second transmitting antenna can be oriented to transmit radar waves in the vehicle-forward direction relative to the vehicle.

[0015] In the example, the radar system may further include: a radar unit comprising a wave generator, a first transmitting antenna, a second transmitting antenna, at least one first frequency multiplier, and at least one second frequency multiplier; and a computer communicatively coupled to the radar unit, the computer being programmed to actuate vehicle components based on data received from the radar unit. In other examples, the radar unit may further include: a first receiving antenna positioned to receive reflected radar waves emitted by the first transmitting antenna; and a first analog-to-digital converter (ADC) positioned to receive output from the first receiving antenna, and the computer may be communicatively coupled to the first ADC. In yet another example, the computer may be programmed to determine the state of an object outside the vehicle and actuate components based on the state of the object.

[0016] In another example, the radar unit may further include: a second receiving antenna positioned to receive reflected radar waves emitted by a second transmitting antenna; and a second analog-to-digital converter (ADC) positioned to receive output from the second receiving antenna, to which a computer can communicatively couple. In yet another example, the computer may be programmed to determine the state of an occupant in the passenger compartment and to actuate components based on the occupant's state. Attached Figure Description

[0017] Figure 1 This is a side view of an example vehicle with a radar unit.

[0018] Figure 2 This is a top-down view of another example vehicle with a radar unit.

[0019] Figure 3 It comes from Figure 1 Block diagram of the radar unit.

[0020] Figure 4A It comes from Figure 2 A block diagram of a first example of a radar unit.

[0021] Figure 4B It comes from Figure 2 A block diagram of a second example of a radar unit.

[0022] Figure 5 This is a flowchart of an example process for using data from a radar unit. Detailed Implementation

[0023] Referring to the accompanying drawings, in which similar reference numerals indicate similar parts throughout several views, the radar system 105 includes: a first transmitting antenna 310 positioned to transmit radar waves in an external direction relative to the vehicle 100 on which the radar system 105 is mounted; a second transmitting antenna 320 positioned to transmit radar waves into the passenger compartment 115 of the vehicle 100; at least one first frequency multiplier 330 positioned to transmit a signal from a wave generator 305 to the first transmitting antenna 310; and at least one second frequency multiplier 335 positioned to transmit a signal from the wave generator 305 to the second transmitting antenna 320. The at least one first frequency multiplier 330 is configured to increase the frequency of the signal to a first frequency. The at least one second frequency multiplier 335 is configured to increase the frequency of the signal to a second frequency. The second frequency is lower than the first frequency.

[0024] refer to Figures 1 to 2 Vehicle 100 can be any passenger or commercial vehicle, such as a sedan, truck, SUV, crossover, van, minivan, taxi, bus, etc. Vehicle 100 includes a body 110, a passenger compartment 115, a user interface 120, and a radar system 105.

[0025] Vehicle 100 includes a body 110. Vehicle 100 may be a monolithic construction, wherein the frame and body 110 of vehicle 100 are single components. Alternatively, vehicle 100 may be a non-load-bearing body construction, wherein the frame supports the body 110, and the body is a component separate from the frame. The frame and body 110 may be formed from any suitable material (e.g., steel, aluminum, etc.).

[0026] Vehicle 100 includes a passenger compartment 115 for accommodating occupants (if any) of vehicle 100. Passenger compartment 115 includes one or more seats 125 disposed in the front row and one or more seats 125 disposed in the second row behind the front row. Passenger compartment 115 may also include seats 125 in a third row (not shown) at the rear of passenger compartment 115. Seats 125 are shown as bucket seats in the front row and bench seats in the second row, but seats 125 may be of other types. The position and orientation of seats 125 and their components can be adjusted by the occupants.

[0027] User interface 120 presents and receives information to and from the operator of vehicle 100. User interface 120 may be located, for example, on a dashboard in passenger compartment 115, or anywhere easily visible to the operator. User interface 120 may include dials, digital readout devices, screens, speakers, etc., for providing information to the operator, such as known human-machine interface (HMI) elements. User interface 120 may include buttons, knobs, keypads, microphones, etc., for receiving information from the operator.

[0028] The radar system 105 may include a computer 130, a communication network 135, and a radar unit 140.

[0029] Computer 130 is a microprocessor-based computing device, such as a general-purpose computing device (including a processor and memory, electronic controllers, etc.), a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or a combination thereof. Typically, hardware description languages ​​such as VHDL (VHSIC (Very High Speed ​​Integrated Circuit) Hardware Description Language) are used in electronic design to describe digital and mixed-signal systems such as FPGAs and ASICs. For example, an ASIC is manufactured based on VHDL programming provided before manufacturing, while the logic components inside an FPGA can be configured based on VHDL programming, for example, stored in memory electrically connected to the FPGA circuitry. Therefore, computer 130 may include a processor, memory, etc. The memory of computer 130 may include media for storing instructions executable by the processor and for electronically storing data and / or databases, and / or computer 130 may include structures such as those providing programming. Computer 130 may be multiple computers coupled together. Computer 130 may store programming for interaction with radar unit 140 as described below and for interaction with other components of vehicle 100.

[0030] Computer 130 can transmit and receive data via communication network 135. Communication network 135 can be, for example, a controller area network (CAN) bus, Ethernet, WiFi, local area network (LIN), on-board diagnostic connector (OBD-II), and / or any other wired or wireless communication network. Computer 130 can be communicatively coupled to radar unit 140, user interface 120, and other components via communication network 135.

[0031] The radar unit 140 is positioned to detect objects outside the vehicle 100 and objects inside the vehicle 100, for example, by emitting radar waves into the passenger compartment 115 in a direction relative to the exterior of the vehicle 100, and receiving reflected radar waves from the exterior direction and the passenger compartment 115. The radar unit 140 is fixedly mounted to the body 110 of the vehicle 100.

[0032] exist Figure 1 In this example, radar unit 140 is positioned on the body 110 at the upper edge of the rear window of vehicle 100, for example, adjacent to or as part of the center high-mounted brake light (CHMSL). Radar unit 140 emits radar waves to the exterior of vehicle 100 in the rearward direction and to the passenger compartment 115 in the forward direction.

[0033] exist Figure 2 In the example, radar unit 140 is divided into a first subunit 205 positioned to emit radar waves in a direction relative to the exterior of vehicle 100 and a second subunit 210 positioned to emit radar waves into passenger compartment 115. The first subunit 205 may be positioned at the edge of the coverage area of ​​vehicle 100, for example, at the front or rear bumper of the vehicle body 110. If positioned on the front bumper, the first subunit 205 emits radar waves to the exterior of vehicle 100 in a forward direction. If positioned on the rear bumper, the first subunit 205 emits radar waves to the exterior of vehicle 100 in a rearward direction. The second subunit 210 may be positioned in passenger compartment 115, for example, on the dashboard or at the upper edge of the rear window. If positioned on the dashboard, the second subunit 210 emits radar waves into passenger compartment 115 in a rearward direction. If located at the rear of the passenger compartment 115 (such as the upper edge of the rear window), the second subunit 210 transmits radar waves into the passenger compartment 115 in the forward direction of the vehicle.

[0034] refer to Figures 3 to 4B The radar unit 140 includes a wave generator 305, a frequency synthesizer 340, and a digital front-end 345. For detecting objects outside the vehicle 100, the radar unit 140 also includes at least one first frequency multiplier 330, at least one first transmitting amplifier 350, at least one first transmitting antenna 310, at least one first receiving antenna 315, at least one first receiving amplifier 355, at least one first mixer 360, and at least one first analog-to-digital converter (ADC) 365. For detecting objects within the passenger compartment 115, the radar unit 140 also includes at least one second frequency multiplier 335, at least one second transmitting amplifier 370, at least one second transmitting antenna 320, at least one second receiving antenna 325, at least one second receiving amplifier 375, at least one second mixer 380, and at least one second ADC 385.

[0035] As a general overview of detecting objects outside the vehicle 100, wave generator 305 outputs a signal to frequency synthesizer 340, which outputs a higher frequency signal to at least one first frequency multiplier 330. The at least one first frequency multiplier 330 outputs a signal at an even higher frequency (referred to as a first frequency) to a first transmit amplifier 350 and a first mixer 360. The first transmit amplifier 350 provides a signal to a first transmit antenna 310, and the first transmit antenna 310 transmits radar waves at the first frequency. A first receive antenna 315 receives the radar waves emitted by the first transmit antenna 310, which are reflected from the environment outside the vehicle 100. The first receive antenna 315 outputs to a first receive amplifier 355, which then outputs to the first mixer 360. The first mixer 360 processes the output from the first receive amplifier 355 based on the signal from the at least one first frequency multiplier 330, thereby generating a first intermediate frequency (IF) signal. A first ADC 365 receives the first IF signal and outputs it to a digital front-end 345.

[0036] As a general overview of object detection in passenger compartment 115, wave generator 305 outputs a signal to frequency synthesizer 340, which outputs a higher frequency signal to at least one second frequency multiplier 335. The at least one second frequency multiplier 335 outputs a signal at an even higher frequency (referred to as the second frequency) to a second transmit amplifier 370 and a second mixer 380. The second transmit amplifier 370 provides a signal to a second transmit antenna 320, which transmits radar waves at the second frequency. A second receive antenna 325 receives radar waves emitted by a first transmit antenna 310, which are reflected from an object in passenger compartment 115. The second receive antenna 325 outputs to a second receive amplifier 375, which in turn outputs to a second mixer 380. The second mixer 380 processes the output from the second receive amplifier 375 based on the signal from the at least one second frequency multiplier 335, thereby generating a second intermediate frequency (IF) signal. A second ADC 385 receives the second IF signal and outputs it to a digital front-end 345.

[0037] Wave generator 305 is configured to output a signal. Wave generator 305 outputs an electrical signal with a periodic pattern. Therefore, the signal has a reference frequency, i.e., the number of times the pattern repeats per unit time. For example, wave generator 305 can be a ramp generator. A ramp generator outputs a signal that rises or falls linearly with respect to time, thereby producing a sawtooth waveform. The reference frequency can be selected to be stable under low power requirements (e.g., 40 MHz).

[0038] Wave generator 305 may include a local oscillator 390 configured to output a reference frequency. The local oscillator 390 is an electronic circuit that generates a periodic oscillation or an alternating current (AC) signal powered by a direct current (DC) source. The local oscillator 390 can be of any suitable type, such as a crystal oscillator with a fixed reference frequency.

[0039] Frequency synthesizer 340 is positioned to receive a signal from wave generator 305 and output the signal to at least one first frequency multiplier 330 and at least one second frequency multiplier 335. Frequency synthesizer 340 is configured to increase the frequency of the signal. A frequency synthesizer is an electronic circuit that can generate a range of frequencies from a single reference frequency. Frequency synthesizer 340 can be of any suitable type, such as a direct analog synthesizer, a direct digital synthesizer, an indirect digital synthesizer, etc. Frequency synthesizer 340 may include one or more of frequency multiplication, division, direct digital synthesis, mixing, and phase-locked loops as part of the electronic circuitry, as known. Frequency synthesizer 340 can increase the frequency of the signal from wave generator 305 by up to ten times, for example, from 40 MHz to 400 MHz.

[0040] At least one first frequency multiplier 330 is positioned to transmit, for example via a first transmitting amplifier 350, a signal received from a wave generator 305, for example via a frequency synthesizer 340, to a first transmitting antenna 310. At least one first frequency multiplier 330 is configured to increase the frequency of the signal to a first frequency. A frequency multiplier is an electronic circuit that generates an output signal that is a harmonic (i.e., a multiple) of the input frequency. For example, a frequency multiplier may include: a nonlinear circuit that distorts the input signal to generate harmonics of the input signal; and a bandpass filter that removes the input frequency and harmonics other than the desired output signal. As another example, a frequency multiplier may be a phase-locked loop, i.e., an electronic circuit that combines a frequency divider with an output signal whose phase is fixed relative to the input signal. At least one first frequency multiplier 330 may include a single first frequency multiplier 330 or multiple first frequency multipliers 330 connected in series, i.e., the output of one first frequency multiplier 330 is the input of the next first frequency multiplier 330. For example, at least one first frequency multiplier 330 may include two first frequency multipliers 330 in series, one multiplied by 2 (e.g., from 400MHz to 800MHz) and the other multiplied by 95 (e.g., from 800MHz to 76GHz). The first frequency may be at least 76GHz, which can provide accurate range and speed measurements while still penetrating certain adverse weather conditions.

[0041] The radar unit 140 may include a first transmit amplifier 350 for each first transmit antenna 310. The amplifier increases the amplitude of the input signal. Each first transmit amplifier 350 may increase the power of the signal received from at least one first frequency multiplier 330 and output the higher power signal to the corresponding first transmit antenna in the first transmit antenna 310. The first transmit amplifier 350 maintains the frequency of the signal, i.e., maintains the frequency at a first frequency. In other words, the signal received by the first transmit antenna 310 has the same frequency as the signal output by the at least one first frequency multiplier 330. The first transmit amplifier 350 may be of any suitable type, such as a power amplifier.

[0042] Radar unit 140 includes one or more first transmitting antennas 310. The first transmitting antenna 310 transmits radar waves based on signals received from a corresponding first transmitting amplifier 350, i.e., transmits radar waves at a first frequency. The first transmitting antenna 310 can be any suitable type for external short-range (up to 30 meters), medium-range (up to 60 meters), or long-range (up to 150 to 250 meters) detection, such as a reflector and lens antenna, a planar antenna such as a microstrip antenna, etc. The first transmitting antenna 310 is positioned to transmit radar waves in an external direction relative to vehicle 100, for example, oriented to transmit radar waves in a vehicle-rearward direction relative to vehicle 100, as described above regarding... Figure 1 Examples and Figure 2 One of the locations described in the example.

[0043] Radar unit 140 includes one or more first receiving antennas 315. The first receiving antenna 315 detects reflected radar waves emitted by a first transmitting antenna 310. The first receiving antenna 315 is positioned to receive the reflected radar waves emitted by the first transmitting antenna 310, for example, it is oriented in the same or similar direction as the direction the first transmitting antenna 310 is aiming. The first receiving antenna 315 converts the detected radar waves into a carrier signal.

[0044] The radar unit 140 may include a first receive amplifier 355 for each first receive antenna 315. Each first receive amplifier 355 may increase the power of the carrier signal received from the corresponding first receive antenna 315 and output the higher-power carrier signal to a corresponding first mixer in the first mixer 360. The first receive amplifier 355 maintains the frequency of the carrier signal. The first receive amplifier 355 may be of any suitable type, such as a low-noise amplifier.

[0045] Radar unit 140 may include a first mixer 360 for each first receiving antenna 315. Each first mixer 360 may be configured to receive a carrier signal from a corresponding first receiving antenna in the first receiving antenna 315, for example, via a corresponding first receiving amplifier in the first receiving amplifier 355, and may be configured to receive a signal from at least one first frequency multiplier 330, i.e., to receive a signal at a first frequency. Each first mixer 360 may, for example, use a heterodyne method to mix the carrier signal with the signal from at least one first frequency multiplier 330 to generate a first intermediate frequency signal. The first intermediate frequency may be the difference between the frequency of the carrier signal and the first frequency.

[0046] Radar unit 140 may include a first analog-to-digital converter (ADC) for each first antenna. Each first ADC 365 may be configured to receive an output from a corresponding first receiving antenna in the first receiving antenna 315. For example, each first ADC 365 may be configured to receive a first intermediate frequency (IF) signal output by a corresponding first mixer 360. Each first ADC 365 converts the first IF signal into a digital signal. The first ADC 365 outputs the digital signal to a digital front-end 345.

[0047] At least one second frequency multiplier 335 is positioned to transmit, for example via a second transmit amplifier 370, a signal received from a wave generator 305, for example via a frequency synthesizer 340, to a second transmit antenna 320. At least one second frequency multiplier 335 is configured to increase the frequency of the signal to a second frequency. At least one second frequency multiplier 335 may comprise a single second frequency multiplier 335 or multiple second frequency multipliers 335 cascaded, i.e., the output of one second frequency multiplier 335 is the input of the next second frequency multiplier 335. The second frequency may be up to 60 GHz, which can provide accurate range and speed measurements in the passenger cabin 115 while still being suitable for use in close proximity to occupants. As an example, the second frequency may be approximately 60 GHz. For example, at least one second frequency multiplier 335 may comprise a second frequency multiplier 335 multiplied by 150 (e.g., from 400 MHz to 60 GHz). As another example, the second frequency can be in the range of 1 to 5 GHz, which can provide accurate range and velocity measurements in passenger compartment 115, suitable for use close to occupants, and has sufficiently low power requirements to facilitate the placement of the second subunit 210 spaced apart from the wave generator 305 (as shown below). Figures 4A to 4B (as described in the example). For example, at least one second frequency multiplier 335 may include a second frequency multiplier 335 that is multiplied by 6 (e.g., from 400 MHz to 2.4 GHz).

[0048] Radar unit 140 may include a second transmit amplifier 370 for each second transmit antenna 320. Each second transmit amplifier 370 may increase the power of the signal received from at least one second frequency multiplier 335 and output the higher power signal to the corresponding second transmit antenna in the second transmit antenna 320. The second transmit amplifier 370 maintains the frequency of the signal, that is, maintains the frequency at a second frequency. In other words, the signal received by the second transmit antenna 320 has the same frequency as the signal output by at least one second frequency multiplier 335. The second transmit amplifier 370 may be of any suitable type, such as a power amplifier.

[0049] Radar unit 140 includes one or more second transmitting antennas 320. The second transmitting antennas 320 transmit radar waves based on signals received from a corresponding second transmitting amplifier 370, i.e., transmit radar waves at a second frequency. The second transmitting antennas 320 can be any suitable type for internal short-range detection, such as reflector and lens antennas, planar antennas such as microstrip antennas, etc. The second transmitting antennas 320 are positioned to transmit radar waves into the passenger compartment 115, for example, oriented to transmit radar waves in the vehicle-forward direction relative to vehicle 100, as described above. Figure 1 Examples and Figure 2 One of the locations described in the example.

[0050] Radar unit 140 includes one or more second receiving antennas 325. The second receiving antennas 325 detect reflected radar waves emitted by the second transmitting antenna 320. The second receiving antennas 325 are positioned to receive the reflected radar waves emitted by the second transmitting antenna 320, for example, oriented in the same or similar direction as the direction the second transmitting antenna 320 is aiming. The second receiving antennas 325 convert the detected radar waves into a carrier signal.

[0051] Radar unit 140 may include a second receive amplifier 375 for each second receive antenna 325. Each second receive amplifier 375 may increase the power of the carrier signal received from the corresponding second receive antenna 325 and output the higher power carrier signal to a corresponding second mixer in second mixer 380. The second receive amplifier 375 maintains the frequency of the carrier signal. The second receive amplifier 375 may be of any suitable type, for example, a power amplifier (in... Figures 4A to 4B (in the example) or low noise amplifier (in) Figure 3 (as in the example).

[0052] Radar unit 140 may include a second mixer 380 for each second receiving antenna 325. Each second mixer 380 may be configured to receive a carrier signal from a corresponding second receiving antenna in the second receiving antenna 325, for example, via a corresponding second receiving amplifier in the second receiving amplifier 375, and may be configured to receive a signal from at least one second frequency multiplier 335, i.e., to receive a signal at a second frequency. Each second mixer 380 may, for example, use a heterodyne method to mix the carrier signal and the signal from at least one second frequency multiplier 335 to generate a second intermediate frequency signal. The second intermediate frequency may be the difference between the frequency of the carrier signal and the second frequency.

[0053] Radar unit 140 may include a second ADC 385 for each second receiving antenna 325. Each second ADC 385 may be configured to receive an output from a corresponding second receiving antenna in the second receiving antenna 325. For example, each second ADC 385 may be configured to receive a second intermediate frequency (IF) signal output by a corresponding second mixer 380. Each second ADC 385 converts the second IF signal into a digital signal. The second ADC 385 outputs the digital signal to a digital front-end 345.

[0054] Digital front-end 345 is positioned to receive digital signals from first ADC 365 and second ADC 385. Digital front-end 345 can process the digital signals into a format usable by computer 130. Digital front-end 345 is a communication interface for transmitting radar data generated by radar unit 140 to other components of vehicle 100 (e.g., computer 130) via communication network 135. Digital front-end 345 may include a processor and memory.

[0055] Radar unit 140 may include circuit board 395, such as a printed circuit board (PCB). Wave generator 305, frequency synthesizer 340, at least one first frequency multiplier 330, first transmit amplifier 350, first receive amplifier 355, first mixer 360, and first ADC 365 may be mounted to circuit board 395. Furthermore, at least one second frequency multiplier 335, second transmit amplifier 370, second receive amplifier 375, second mixer 380, and second ADC 385 may be mounted to circuit board 395. Circuit board 395, attached components, and digital front end 345 may be housed inside housing 300. First transmit antenna 310 and first receive antenna 315 may be mounted to housing 300 and may be directly inserted into first transmit amplifier 350 and first receive amplifier 355, respectively. Therefore, the components mounted to circuit board 395 and housing 300 can be used as part of a single unit placed in vehicle 100.

[0056] refer to Figure 3The second transmitting antenna 320 and the second receiving antenna 325 can be installed into the housing 300 and can be directly inserted into the second transmitting amplifier 370 and the second receiving amplifier 375, respectively. Figure 3 In this example, these additional components mounted to housing 300 can therefore be used as part of a single unit placed in vehicle 100. Since the second transmitting antenna 320 and the second receiving antenna 325 are adjacent to circuit board 395, the second frequency can be relatively high, for example, 60 GHz, as described above.

[0057] refer to Figures 4A to 4B The first subunit 205 includes a housing 300, a circuit board 395, components mounted to the circuit board 395, a first transmitting antenna 310, a first receiving antenna 315, and a digital front end 345. The second subunit 210 includes a second transmitting antenna 320 and a second receiving antenna 325. The radar unit 140 also includes at least one cable 415 connecting the second transmitting antenna 320 and the second receiving antenna 325 to the first subunit 205 (e.g., to the second transmitting amplifier 370 and the second receiving amplifier 375). For example, one cable 415 can connect the second transmitting antenna 320 to the second transmitting amplifier 370, and another cable 415 can connect the second receiving antenna 325 to the second receiving amplifier 375, such as... Figure 4A As shown. In another example, the first subunit 205 may include a transmit / receive switch 405 connected to the second transmit amplifier 370 and the second receive amplifier 375, and a cable 415 connects the transmit / receive switch 405 to a single antenna 320, 325 that serves as both the second transmit antenna 320 and the second receive antenna 325, as shown. Figure 4B As shown. The transmit / receive switch 405 coordinates signal transmission via a single cable 415. The transmit / receive switch 405 can be any suitable type of three-port switch for quickly switching a single antenna 320, 325 between acting as a transmitter and receiver, for example, such as... Figure 4B The illustrated circulator, or single-pole double-throw switch, PIN diode switch, PIN-based T / R switch, etc. Figure 4A and Figure 4B In the example of either, the second subunit 210 (e.g., the second transmitting antenna 320 and the second receiving antenna 325) is spaced apart from the circuit board 395 and from the remainder of the first subunit 205. This arrangement allows for the placement of the first subunit 205 and the second subunit 210 to detect different phenomena of interest, while still being supplied by the same wave generator 305. The second frequency can be relatively low, for example, in the range of 1 to 5 GHz as described above, which facilitates the use of long cables 415 between spaced-apart locations on the vehicle 100.

[0058] Return to Figures 1 to 2 The computer 130 can be programmed to actuate components of the vehicle 100 based on data received from the radar unit 140. In general, the computer 130 can receive data from the radar unit 140 to determine the state of objects outside the vehicle 100 or the state of occupants in the passenger compartment 115, and actuate components based on said state. For example, the computer 130 can actuate components based on the state by determining whether the state satisfies a condition and actuating the component in response to the satisfaction of the condition.

[0059] Computer 130 is communicatively coupled to radar unit 140 via communication network 135. Specifically, computer 130 is communicatively coupled to first ADC 365 and second ADC 385, and receives data from first ADC 365 and second ADC 385 via digital front end 345 and communication network 135.

[0060] Computer 130 can be programmed to determine the state of objects outside vehicle 100 based on data from first ADC 365. For example, the state may include the distance and orientation from vehicle 100 to the object. Computer 130 can also be programmed to determine the state of occupants in passenger compartment 115 based on data from second ADC 385. For example, for each seat 125, the state may be the presence or absence of an occupant.

[0061] Computer 130 can be programmed to determine whether the state of an object or occupant meets certain conditions. For example, the conditions may include the object being less than a threshold distance from the body 110 of vehicle 100. The conditions may include other requirements besides state, such as vehicle 100's speed being below a threshold speed. The threshold distance and threshold speed can be selected to provide sufficient time before vehicle 100 contacts the object in a specific scenario, for example, as part of a parking assistance feature. For another example, the conditions may include the occupant being in a specific seat 125 (e.g., rear seat 125) in passenger compartment 115. The conditions may include other requirements besides state, such as vehicle 100 having just closed and / or the front door being open.

[0062] Computer 130 can be programmed to actuate components of vehicle 100 based on the state of an object or occupant, for example, in response to the fulfillment of a condition. For instance, computer 130 can actuate user interface 120 to notify the operator of vehicle 100 that a condition has been met. As an example, computer 130 can instruct user interface 120 to display a message or graphic indicating the distance and / or heading to an object outside vehicle 100, and, for example, to emit a beeping sound or other sound at a frequency that increases as the distance to the object decreases. As another example, computer 130 can instruct user interface 120 to display a message or graphic and emit a beeping sound or other sound in response to an occupant being in the rear seat 125 after vehicle 100 has been closed and the front doors have been opened.

[0063] Figure 5 This is a flowchart illustrating an example process 500 of radar system 105 using data from radar unit 140. The memory of computer 130 stores executable instructions for performing the steps of process 500, and / or can be programmed in a structure such as those mentioned above. As a general overview of process 500, computer 130 receives data from radar unit 140 and actuates components of vehicle 100 in response to met conditions. Process 500 can continue repeatedly while vehicle 100 is in motion.

[0064] Process 500 begins in block 505, where computer 130 receives data from radar unit 140, as described above.

[0065] Next, in decision box 510, computer 130 determines whether the state of objects outside vehicle 100 or occupants in passenger compartment 115 meets the conditions described above. If the conditions are met, process 500 proceeds to box 515. If the conditions are not met, process 500 terminates.

[0066] In block 515, computer 130 actuates components based on the state of the object or occupant (e.g., according to satisfied conditions), as described above. After block 515, process 500 ends.

[0067] Generally speaking, the described computing system and / or device may employ any of a variety of computer operating systems, including but not limited to the following versions and / or types: Ford Applications; AppLink / Smart Device Link middleware; Microsoft Operating system; Microsoft Operating system; Unix operating system (e.g., released by Oracle Corporation of Redwood Coast, California). Operating systems: AIX UNIX (published by International Business Machines Corporation, Armonk, New York); Linux; Mac OSX and iOS (published by Apple Inc., Cupertino, California); BlackBerry (published by BlackBerry Ltd., Waterloo, Canada); Android (developed by Google and the Open Handset Alliance); or provided by QNX Software Systems. CAR infotainment platform. Examples of computing devices include, but are not limited to, onboard computers, computer workstations, servers, desktop computers, laptops, mobile computers or handheld computers, or other computing systems and / or devices.

[0068] Computing devices typically include computer-executable instructions, which can be executed by one or more computing devices such as those listed above. Computer-executable instructions can be compiled or interpreted from computer programs created using a variety of programming languages ​​and / or technologies, which, individually or in combination, include, but are not limited to, Java. TM Languages ​​such as C, C++, Matlab, Simulink, Stateflow, Visual Basic, JavaScript, Python, Perl, and HTML are used. Some of these applications can be compiled and executed on virtual machines such as the Java Virtual Machine and the Dalvik Virtual Machine. Generally, a processor (e.g., a microprocessor) receives instructions from, for example, memory, computer-readable media, and executes those instructions to perform one or more processes, including one or more processes described herein. Such instructions and other data can be stored and transferred using a variety of computer-readable media. Files in a computing device are typically collections of data stored on computer-readable media such as storage media, random access memory, etc.

[0069] Computer-readable media (also known as processor-readable media) include any non-transitory (e.g., tangible) medium that contributes to providing data (e.g., instructions) that can be read by a computer (e.g., by the computer's processor). Such media can take many forms, including but not limited to non-volatile and volatile media. Instructions can be transmitted via one or more transmission media, including optical fibers, wires, wireless communications, and internals that constitute a system bus coupled to the computer's processor. Common forms of computer-readable media include, for example, RAM, PROM, EPROM, FLASH-EEPROM, any other memory chip or magnetic tape, or any other medium from which a computer can read.

[0070] The databases, data repositories, or other data stores described herein can include various mechanisms for storing, accessing / retrieving various types of data, including hierarchical databases, file sets in file systems, application databases in proprietary formats, relational database management systems (RDBMS), non-relational databases (NoSQL), graph databases (GDB), and so on. Each such data store is typically contained within a computing device employing a computer operating system such as those mentioned above, and is accessed via a network in any one or more of various ways. File systems can be accessed from the computer operating system and can include files stored in various formats. In addition to languages ​​used to create, store, edit, and execute the stored programs (such as PL / SQL as described above), RDBMS typically employs Structured Query Language (SQL).

[0071] In some examples, system elements may be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.) and stored on computer-readable media (e.g., disks, storage, etc.) associated therewith. Computer program products may include such instructions stored on computer-readable media for performing the functions described herein.

[0072] In the accompanying drawings, the same reference numerals indicate the same elements. Furthermore, some or all of these elements may be changed. Regarding the media, processes, systems, methods, inspirations, etc., described herein, it should be understood that although the steps of such processes, etc., are described as occurring in a certain ordered order, such processes can be practiced by performing the steps in a different order than that described herein. It should further be understood that some steps may be performed simultaneously, other steps may be added, or some steps described herein may be omitted. The operations, systems, and methods described herein should always be implemented and / or performed in accordance with the applicable owner / user manual and / or safety guidelines.

[0073] This disclosure has been described in an illustrative manner, and it should be understood that the terminology used is intended to describe the nature of the words, not to be limiting. The adjectives “first” and “second” are used throughout this document as identifiers and are not intended to indicate importance, order, or quantity. The use of “in response to,” “after determining,” etc., indicates a causal relationship, not just a temporal one. In view of the above teachings, many modifications and variations of this disclosure are possible, and this disclosure may be practiced in ways other than those specifically described.

[0074] According to the present invention, a radar system is provided, the radar system comprising: a first transmitting antenna positioned to transmit radar waves in an external direction relative to a vehicle on which the radar system is mounted; a second transmitting antenna positioned to transmit radar waves into the passenger compartment of the vehicle; at least one first frequency multiplier positioned to transmit a signal from a wave generator to the first transmitting antenna, the at least one first frequency multiplier being configured to increase the frequency of the signal to a first frequency; and at least one second frequency multiplier positioned to transmit a signal from a wave generator to the second transmitting antenna, the at least one second frequency multiplier being configured to increase the frequency of the signal to a second frequency, the second frequency being lower than the first frequency.

[0075] According to an embodiment, the wave generator includes a local oscillator configured to output a reference frequency.

[0076] According to an embodiment, the invention is further characterized by a frequency synthesizer, which is positioned to receive a signal from a wave generator and output the signal to at least one first frequency multiplier and at least one second frequency multiplier, the frequency synthesizer being configured to increase the frequency of the signal.

[0077] According to an embodiment, the invention is further characterized by: a first receiving antenna, the first receiving antenna being positioned to receive reflected radar waves emitted by a first transmitting antenna; and a first mixer, the first mixer being positioned to receive from the first receiving antenna and from at least one first frequency multiplier.

[0078] According to an embodiment, the invention is further characterized by: a second receiving antenna, the second receiving antenna being positioned to receive reflected radar waves emitted by a second transmitting antenna; and a second mixer, the second mixer being positioned to receive from the second receiving antenna and from at least one second frequency multiplier.

[0079] According to an embodiment, the invention is further characterized by a first analog-to-digital converter (ADC) configured to receive a first intermediate frequency output from a first mixer.

[0080] According to an embodiment, the invention is further characterized by: a second receiving antenna, the second receiving antenna being positioned to receive reflected radar waves emitted by a second transmitting antenna; a second mixer, the second mixer being positioned to receive from the second receiving antenna and from at least one second frequency multiplier; and a second ADC, the second ADC being positioned to receive a second intermediate frequency output by the second mixer.

[0081] According to an embodiment, the first frequency is at least 76 GHz.

[0082] According to an embodiment, the second frequency is at most 60 GHz.

[0083] According to an embodiment, the invention is further characterized by a circuit board, a wave generator, and at least one first frequency multiplier mounted on the circuit board.

[0084] According to an embodiment, at least one second frequency multiplier is mounted on the circuit board.

[0085] According to an embodiment, the invention is further characterized by a cable that connects a second transmitting antenna to a circuit board, the second transmitting antenna being spaced apart from the circuit board.

[0086] According to an embodiment, the second frequency is in the range of 1 to 5 GHz.

[0087] According to an embodiment, the first transmitting antenna is oriented to transmit radar waves in a vehicle-rearward direction relative to the vehicle.

[0088] According to an embodiment, the second transmitting antenna is oriented to transmit radar waves in the vehicle-forward direction relative to the vehicle.

[0089] According to an embodiment, the invention is further characterized by: a radar unit comprising a wave generator, a first transmitting antenna, a second transmitting antenna, at least one first frequency multiplier, and at least one second frequency multiplier; and a computer communicatively coupled to the radar unit, the computer being programmed to actuate vehicle components based on data received from the radar unit.

[0090] According to an embodiment, the radar unit further includes: a first receiving antenna, the first receiving antenna being positioned to receive reflected radar waves emitted by a first transmitting antenna; and a first analog-to-digital converter (ADC), the first ADC being positioned to receive output from the first receiving antenna and being computer communicatively coupled to the first ADC.

[0091] According to an embodiment, the computer is programmed to: determine the state of an object outside the vehicle; and actuate components based on the state of the object.

[0092] According to an embodiment, the radar unit further includes: a second receiving antenna, the second receiving antenna being positioned to receive reflected radar waves emitted by a second transmitting antenna; and a second analog-to-digital converter (ADC), the second ADC being positioned to receive output from the second receiving antenna and being computer communicatively coupled to the second ADC.

[0093] According to an embodiment, the computer is programmed to determine the state of the occupants in the passenger compartment and to actuate components based on the occupants' state.

Claims

1. A radar system comprising: A first transmitting antenna is positioned to transmit radar waves in an external direction relative to the vehicle on which the radar system is mounted. A second transmitting antenna is positioned to transmit radar waves into the passenger compartment of the vehicle; At least one first frequency multiplier, the at least one first frequency multiplier being positioned to send a signal from a wave generator to the first transmitting antenna, the at least one first frequency multiplier being configured to increase the frequency of the signal to a first frequency; as well as At least one second frequency multiplier is positioned to transmit the signal from the wave generator to the second transmitting antenna, and the at least one second frequency multiplier is configured to increase the frequency of the signal to a second frequency, which is lower than the first frequency.

2. The radar system of claim 1, wherein the wave generator includes a local oscillator configured to output a reference frequency.

3. The radar system of claim 1, further comprising a frequency synthesizer configured to receive the signal from the wave generator and output the signal to the at least one first frequency multiplier and the at least one second frequency multiplier, the frequency synthesizer being configured to increase the frequency of the signal.

4. The radar system of claim 1, further comprising: A first receiving antenna is configured to receive reflected radar waves emitted by the first transmitting antenna. and a first mixer, the first mixer being positioned to receive from the first receiving antenna and from the at least one first frequency multiplier.

5. The radar system of claim 4, further comprising: A second receiving antenna is configured to receive reflected radar waves emitted by the second transmitting antenna. And a second mixer, the second mixer being positioned to receive from the second receiving antenna and from the at least one second frequency multiplier.

6. The radar system of claim 4, further comprising a first analog-to-digital converter (ADC) configured to receive a first intermediate frequency output from the first mixer.

7. The radar system of claim 1, wherein the first frequency is at least 76 GHz.

8. The radar system of claim 1, wherein the second frequency is at most 60 GHz.

9. The radar system of claim 1, further comprising a circuit board, wherein the wave generator and the at least one first frequency multiplier are mounted on the circuit board.

10. The radar system of claim 1, further comprising: A radar unit, the radar unit comprising the wave generator, the first transmitting antenna, the second transmitting antenna, the at least one first frequency multiplier, and the at least one second frequency multiplier; as well as A computer communicatively coupled to the radar unit, the computer being programmed to actuate vehicle components based on data received from the radar unit.

11. The radar system of claim 10, wherein the radar unit further comprises: A first receiving antenna is configured to receive reflected radar waves emitted by the first transmitting antenna. and a first analog-to-digital converter (ADC), the first ADC being positioned to receive an output from the first receiving antenna, and the computer being communicatively coupled to the first ADC.

12. The radar system of claim 11, wherein the computer is programmed to: determine the state of an object outside the vehicle; and actuate the components based on the state of the object.

13. The radar system of claim 10, wherein the radar unit further comprises: A second receiving antenna is configured to receive reflected radar waves emitted by the second transmitting antenna. And a second analog-to-digital converter (ADC), the second ADC being positioned to receive an output from the second receiving antenna, and the computer being communicatively coupled to the second ADC.

14. The radar system of claim 13, wherein the computer is programmed to determine the state of an occupant in the passenger compartment and to actuate the components based on the state of the occupant.

15. A vehicle comprising a radar system as described in any one of claims 1 to 14.

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