Radar sensor and method of operating radar sensor

Abstract

The invention relates to a radar sensor and an operation method of the radar sensor. A method for operating a radar sensor in a vehicle, the radar sensor comprising a radar transceiver operating in an operating frequency range. The method includes generating, within the radar sensor, information related to an orientation of the radar sensor, and determining an orientation of a transmission of the radar transceiver based on the information related to the orientation of the radar sensor. Further, the method includes selecting a frequency sub-band of an operating frequency range of the radar transceiver according to an orientation of the radar transceiver for transmitting the radar signal.

Description

Technical Field

[0001] This disclosure relates to radar sensors, and more particularly to radar sensors suitable for automotive applications. This disclosure also relates to methods of operating radar sensors in vehicles. Background Technology

[0002] The radar sensor system in a vehicle is used to determine the distance and position of objects relative to the radar sensor. It can be used in advanced driver assistance systems (ADAS), emergency braking (EB), adaptive cruise control (ACC), and autonomous driving (AD). However, a vehicle's radar sensors can interfere with each other on the road, thus providing incorrect object distances and positions.

[0003] One way to overcome interference between radar sensors of different vehicles on the road is to assign different frequencies to the radar sensors of each vehicle based on the direction of movement of the respective vehicles. Vehicles can be located using a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS), and the direction of movement can be determined using a navigation system. The GPS / GNSS and navigation systems are connected to a central control unit (CCU), which processes the information received from the GPS / GNSS and navigation systems and assigns different frequencies to the radar sensors. Information related to the vehicle's direction of movement must pass through many systems (i.e., GPS / GNSS, navigation systems, and the CCU). Therefore, the time intervals between information transmissions are handled by the CCU, and the CCU's assignment of different frequencies to the radar sensors becomes crucial. Significant delays in information processing and frequency allocation can prevent timely use of information, and the information may become insignificant. Furthermore, the GPS / GNSS and navigation systems are not directly connected to the radar sensors but are connected via the CCU. A failure of the CCU can cause the failure of all radar sensors connected to it.

[0004] Therefore, the object of the present invention is to provide an improved concept for operating radar sensors in vehicles. Summary of the Invention

[0005] This disclosure relates to a method for operating a radar sensor in a vehicle. The radar sensor includes a radar transceiver operating in an operating frequency range. The method includes:

[0006] Information related to the orientation of the radar sensor is generated within the radar sensor.

[0007] The orientation of the radar transceiver's transmission is determined based on information related to the orientation of the radar sensor.

[0008] The frequency subband of the radar transceiver's operating frequency range is selected based on the orientation of the radar transceiver used to transmit radar signals.

[0009] This disclosure also relates to a radar sensor for a vehicle. The radar sensor includes a radar transceiver, a sensor, and processing circuitry. The radar transceiver operates within an operating frequency range. The sensor is configured to determine information related to the orientation of the radar sensor. The processing circuitry is configured to determine the orientation of the radar transceiver's transmission based on the orientation-related information received from the sensor, and to allocate frequency sub-bands of the radar transceiver's operating frequency range to the radar transceiver based on the orientation-related information received from the sensor. The radar sensor also includes a printed circuit board mechanically and electrically coupled to the radar transceiver, sensor, and processing circuitry.

[0010] Those skilled in the art will recognize the additional features and advantages upon reading the following detailed description and reviewing the accompanying drawings. Attached Figure Description

[0011] The invention is illustrated in the accompanying drawings by way of example rather than limitation, wherein the same reference numerals denote similar or identical elements. The elements in the drawings are not necessarily to scale relative to each other. Features of the various illustrated examples can be combined unless excluded from each other.

[0012] Figure 1 The illustration shows an example of a conventional method for operating radar sensors in a vehicle.

[0013] Figure 2 The illustration shows a vehicle including radar sensors, where the radar sensors transmit RF signals according to the respective radar sensor's transmission direction.

[0014] Figure 3 The diagram illustrates the reference system. Figure 2 One of the radar sensors in the radar sensor family.

[0015] Figure 4 The illustration shows an example of a radar sensor with a radar transceiver, processing circuitry, and compass sensor integrated in the same semiconductor package.

[0016] Figure 5 Another example of a radar sensor is illustrated, which includes a compass sensor arranged on the outside of a semiconductor package that includes a radar transceiver and processing circuitry.

[0017] Figure 6 The illustration shows a radar sensor that includes a compass sensor and a power management chip integrated in the same semiconductor package.

[0018] Figure 7The diagram illustrates a flowchart of a method for operating radar sensors in a vehicle. Detailed Implementation

[0019] Although specific examples have been illustrated and described herein, those skilled in the art will understand that various alternatives and / or equivalent embodiments can be used to replace the specific examples shown and described without departing from the scope of the invention. This application is intended to cover any modifications or variations of the specific examples discussed herein. Therefore, the invention is intended to be defined only by the claims and their equivalents.

[0020] It should be noted that the methods and apparatuses, including their preferred embodiments as outlined in this document, can be used alone or in combination with other methods and apparatuses disclosed in this document. Furthermore, features outlined in the context of the apparatus also apply to the corresponding methods, and vice versa. Moreover, all aspects of the methods and apparatuses outlined in this document can be combined arbitrarily. In particular, the features of the claims can be combined with each other in any manner.

[0021] It should be noted that the specification and accompanying drawings merely illustrate the principles of the proposed method and sensor. Those skilled in the art will be able to implement various arrangements, although these arrangements are not explicitly described or shown herein, but they embody the principles of the invention and are included within the spirit and scope of the invention. Furthermore, all examples and embodiments outlined in this document are primarily intended for illustrative purposes only to aid the reader in understanding the principles of the proposed method and sensor. Moreover, all statements regarding the principles, aspects, and embodiments of the invention provided herein, as well as specific examples thereof, are intended to cover their equivalents.

[0022] Figure 1 A block diagram of a conventional example of an arrangement 100 of electronic components in a vehicle, including radar sensor 102, is shown. Arrangement 100 uses one or more separate subsystems mounted on the vehicle to determine the direction of movement of the vehicle, and then assigns different frequencies to each radar sensor based on the direction of movement of the vehicle.

[0023] Radar sensor 102 is coupled to central control unit 104, which determines the vehicle's direction of movement. The vehicle's direction of movement may include its location and route. Determining the vehicle's direction of movement involves receiving information from multiple subsystems 106, 108, 110, and 112 and processing it by central control unit 104. One subsystem (e.g., positioning subsystem 106) can locate the vehicle. Positioning subsystem 106 may have a GPS / GNSS receiver and positioning circuitry. The GPS / GNSS receiver receives first GPS / GNSS signals from multiple satellites, and the positioning circuitry processes the first GPS / GNSS signals to determine the vehicle's coordinates (e.g., longitude and latitude). Positioning subsystem 106 can access a large database of map data subsystem 108, which includes information about roads, highways, etc., and can determine the vehicle's surrounding environment. Therefore, positioning subsystem 106 can determine the vehicle's location and transmit the vehicle's location to navigation subsystem 110. Navigation subsystem 110 may have an accelerometer to determine the vehicle's orientation. In some examples, the navigation subsystem 110 may have a LiDAR sensor or a camera to identify obstacles near the vehicle. Based on the vehicle's location, orientation, and information about the surrounding environment, the navigation subsystem 110 determines the vehicle's direction of movement. Information from the positioning subsystem 106 and the navigation subsystem 110 is fused together by the sensor fusion system 112 and transmitted to the central control unit 104. The central control unit 104 assigns different frequencies to each LiDAR sensor based on the information received from the sensor fusion system 112.

[0024] The first GPS / GNSS signal received from the satellite may interfere with the vehicle's surrounding environment, and therefore, the determined vehicle location may be inaccurate. Sensor 114 (e.g., an ultrasonic sensor, lidar, radar, or acoustic sensor, etc.) can transmit a second signal, including information related to interference from the surrounding environment, to either positioning subsystem 106 or navigation subsystem 110. Positioning subsystem 106 or navigation subsystem 110 can then remove interference from the first GPS / GNSS signal to accurately locate the vehicle.

[0025] In arrangement 100, the time interval between generating information related to the vehicle's direction of movement and assigning different frequencies to each radar sensor is critical. Dashed line 116 illustrates the path involved in transmitting information related to the vehicle's direction of movement from multiple subsystems 106, 108, 110, and 112 to the central control unit 104. Subsystems 106, 108, 110, and 112 are not directly connected to radar sensor 102, but rather to the central control unit 104. Therefore, the time interval between the arrival of information about the vehicle's direction of movement at the central control unit 104, the central control unit 104 processing that information, and then assigning different frequencies to each radar sensor 102 can be quite long. This could prevent the timely use of information related to the vehicle's direction of movement or degrade the operational advantages of arrangement 100 in avoiding interference.

[0026] The embodiments described herein provide a novel concept for operating radar sensors in vehicles. The radar sensor includes a radar transceiver operating within an operating frequency range. This novel concept is based on determining the orientation of the radar sensor within itself, and then, based on that orientation, determining the transmission orientation of the radar transceiver within the radar sensor. After determining the transmission orientation of the radar transceiver, the radar sensor allocates frequency sub-bands of the radar transceiver's operating frequency range to the radar transceiver for transmitting radar signals. In other words, the sensing and processing required to determine the absolute orientation (e.g., with reference to a global Earth reference system such as the Earth's rotation axis or magnetic north direction) and allocate frequency sub-bands are all performed within the radar sensor itself. Given the foregoing, the radar sensor autonomously determines orientation information and allocates frequency sub-bands based on that orientation information.

[0027] This new concept is realized through a radar sensor with a radar transceiver, a sensor that determines information related to the radar sensor's orientation, and processing circuitry. The processing circuitry uses the sensor to determine the radar sensor's orientation and the radar transceiver's transmission orientation. Furthermore, the processing circuitry allocates frequency sub-bands within the radar transceiver's operating frequency range to the radar transceiver. When the radar transceiver's transmission orientation is determined within the radar sensor, the frequency sub-bands can be allocated to the radar transceiver instantaneously or without significant delay.

[0028] Figure 2An arrangement of multiple radar sensors 202, 204, 206, and 208 in an example vehicle 210 is shown. Radar sensors 202 and 204 are mounted on opposite ends of the front side 212 of the vehicle 200. Radar sensors 206 and 208 are mounted on opposite ends of the rear side 214 of the vehicle 210. Furthermore, each radar sensor 202, 204, 206, and 208 includes: radar transceivers 202a, 204a, 206a, and 208a; sensors 202b, 204b, 206b, and 208b; and processing circuitry 202c, 204c, 206c, and 208c. Each of the radar transceivers 202a, 204a, 206a, and 208a, sensors 202b, 204b, 206b, and 208b, and processing circuits 202c, 204c, 206c, and 208c is integrated into a corresponding semiconductor package. Each semiconductor package is mounted on a corresponding printed circuit board 202d, 204d, 206d, and 208d. The printed circuit boards 202d, 204d, 206d, and 208d are separate from each other, meaning that the radar sensors 202, 204, 206, and 208 operate independently of each other.

[0029] In one example, radar sensors 202, 204, 206, and 208 may be installed at locations other than the front side 212 or the rear side 214 of the vehicle 210.

[0030] For example, each of radar transceivers 202a, 204a, 206a, and 208a is implemented as a radar MMIC semiconductor chip and configured to transmit frequency modulated continuous wave (FMCW) RF signals in an operating frequency range of, for example, 76-81 GHz. The FMCW RF signal may include multiple linear frequency modulated pulses, each having a start frequency and a stop frequency. Each of radar transceivers 202a, 204a, 206a, and 208a transmits, receives, and processes a corresponding FMCW RF signal. In some examples, each of radar transceivers 202, 204, 206, and 208 may utilize a predetermined bandwidth determined for the transmission of the RF signal.

[0031] In one example, each of the radar transceivers 202a, 204a, 206a, and 208a is electrically coupled to a corresponding printed circuit board 202d, 204d, 206d, and 208d for transmitting RF signals to an antenna provided on the corresponding printed circuit board 202d, 204d, 206d, and 208d.

[0032] In one example, each of the radar transceivers 202a, 204a, 206a, and 208a may have a first wireless element configured to transmit RF signals. In some examples, the first wireless transmission element may be an antenna integrated into the radar transceivers 202a, 204a, 206a, and 208a, and configured to transmit RF signals directly to the surrounding environment during vehicle operation. In some examples, the first wireless transmission element may be a transmitter integrated into the respective radar transceivers 202a, 204a, 206a, and 208a, and configured to wirelessly transmit RF signals to an inflatable waveguide antenna during vehicle operation.

[0033] The processing circuits 202c, 204c, 206c, and 208c can be multiprocessors, microcontrollers, or digital signal processors capable of executing software instructions stored in a program (e.g., the storage medium of the programming circuits 202c, 204c, 206c, and 208c).

[0034] Sensors 202b, 204b, 206b, and 208b may be compass sensors (such as MEMS compass sensors or magnetic sensors) configured to determine or provide information about their orientation relative to a reference system. Magnetic sensors may include 3D magnetic sensors, Hall effect sensors, or magnetoresistive sensors capable of measuring magnetic fields in three orthogonal directions. The reference system may be a global geographic reference system including north, south, east, and west directions, or a system using magnetic north and / or other magnetic directions (such as magnetic south) as a reference orientation. Sensors 202b, 204b, 206b, and 208b may determine their orientation relative to a fixed direction (e.g., north N in a geographic system or the Earth's axis of rotation).

[0035] Each radar transceiver 202a, 202a, 202a, 202a has a corresponding transmit direction indicated by arrows T1, T2, T3, T4. The transmit direction is, for example, in the direction where the RF signal radiation pattern contains the highest power or exhibits the maximum signal strength. The transmit directions T1, T2, T3, T4 of radar transceivers 202a, 204a, 206a, 208a are pointed away from vehicle 210. The transmit directions T1, T2, T3, T4 of radar transceivers 202a, 204a, 206a, 208a can be in the direction of the main transmit beam of radar transceivers 202a, 204a, 206a, 208a.

[0036] The corresponding radar transceivers 202a, 204a, 206a, and 208a can have their transmissions T1, T2, T3, and T4 oriented relative to north (N) at angles φ1, φ2, φ3, and φ4, respectively. The angles φ1, φ2, φ3, and φ4 are determined in... Figure 3The discussion continues. Based on the angles φ1, φ2, φ3, and φ4, processing circuits 202c, 204c, 206c, and 208c allocate frequency sub-bands to the corresponding radar transceivers 202a, 204a, 206a, and 208a for transmitting RF signals.

[0037] Radar sensors 202, 204, 206, and 208 are mounted on different sides 212 and 214 of vehicle 210. Therefore, transmitters T1, T2, T3, and T4 are oriented differently relative to the north direction N. Consequently, the frequency sub-bands assigned to each radar transceiver 202a, 204a, 206a, and 208a will be different, thus reducing interference to radar sensors of other vehicles on the road. Furthermore, it should be noted that when radar sensors 202, 204, 206, and 208 determine their own orientation, information regarding their mounting positions on vehicle 210 and their orientation relative to vehicle 210 is not required.

[0038] Figure 3 It shows the random orientation relative to reference system 300. Figure 2 The radar transceiver 202 is one of multiple radar sensors 202, 204, 206, and 208. The radar sensor 202 can be aligned relative to a first direction D1, which can be a line parallel to the printed circuit board 202d. The transmitter T1 of the radar transceiver 202 is oriented at an angle (θ) relative to the first direction D1 of the radar sensor 202. When the radar transceiver 202a is mounted on the printed circuit board 202d, the angle (θ) can be predetermined and stored in the memory of the processing circuit 202c. Similarly, the sensor 202b is oriented in a second direction D2, and the second direction D2 can be oriented at an angle relative to the first direction D1 of the radar transceiver 202a. When the sensor 202b is mounted on the printed circuit board, this angle can be predetermined and stored in the memory of the processing circuit 202d. Figure 3 In this configuration, the second direction D2 is parallel to the first direction D1 of the radar sensor 202. Therefore, the angle between the sensor 202b or the second direction D2 and the radar transceiver 202a or the first direction D1 is 0°.

[0039] Sensor 202b can determine its orientation (i.e., the angle (γ) relative to reference system 300, e.g., north direction N) and transmit the angle (γ)-related information to processing circuit 202c. As described herein, the angle between sensor 202b and the first direction D1 of the radar sensor is 0°. Therefore, the first direction D1 of the radar sensor 202 is also oriented at an angle (γ) relative to north direction N. Based on the predetermined angle (θ) between the first direction D1 of the radar sensor 202 and the transmission T1 of the radar transceiver 202a and the determined angle (γ) between the first direction D1 of the radar sensor 202 and north direction N, processing circuit 202c can determine the orientation or angle (φ1) between the transmission T1 of the radar transceiver 202a and north direction N. Based on the angle (φ1), processing circuit 202c allocates a frequency subband to the radar transceiver 202a for transmitting FMCW RF signals. Relative angle φ1 = 0° 0 This means that the transmitter T1 of radar transceiver 202a is aligned with the north direction N.

[0040] The processing circuit 202c may have software or programs implemented in its memory. The software or program can allocate frequency sub-bands of the operating frequency range of the radar transceiver 202a according to the orientation or angle φ1 of the radar transceiver 202a's transmission T1 relative to the reference system 300. In other words, the radar sensor 202 can autonomously allocate frequency sub-bands for transmitting RF signals.

[0041] Separately or in combination, the processing circuit 202c may have a lookup table stored in its memory. The lookup table may contain information related to the mapping of frequency sub-bands and the orientation of the transmission T1 of the radar transceiver 202a. Based on the lookup table, the processing circuit 202c may allocate frequency sub-bands to the radar transceiver 202a.

[0042] In one example, processing circuitry 202c assigns the start and stop frequencies of the RF signal to radar transceiver 202a. In some examples, processing circuitry 202c may assign either the start or stop frequency. In some examples, processing circuitry 202c may assign the bandwidth between the start and stop frequencies of the RF signal.

[0043] Now for reference Figure 2 Radar sensors 204, 206, and 208 can also determine the corresponding angles φ2, φ3, and φ4 between the corresponding transmitters T2, T3, and T4 and the north direction N of the reference system 300, such as the reference... Figure 3The corresponding processing circuits 204c, 206c, and 208c can allocate frequency sub-bands to radar transceivers 204a, 206a, and 208a according to the corresponding angles φ2, φ3, and φ4 for transmitting FMCW RF signals.

[0044] For example, at a 10-degree angle φ1, φ2, φ3, φ4 between the transmitting T1, T2, T3, T4 of radar transceivers 202a, 204a, 206a, and the north direction N, processing circuits 202c, 204c, 206c, and 208c can allocate a subband centered at 79 GHz to the corresponding radar transceivers 202a, 204a, 206a, and 208a for transmission. For a 100-degree angle φ1, φ2, φ3, φ4, processing circuits 202c, 204c, 206c, and 208c can allocate a subband centered at 80 GHz to the corresponding radar transceivers 202a, 204a, 206a, and 208a for transmission.

[0045] The preceding text introduced a new concept for operating radar sensors with radar transceivers in vehicles. The radar sensor determines the radar transceiver's transmission orientation relative to a reference system within the radar sensor and can autonomously allocate frequency subbands to the radar transceiver for transmitting RF signals. The determination of the radar transceiver's transmission orientation relative to the reference system and the allocation of frequency subbands are performed entirely within the radar sensor. Unlike conventional concepts, this autonomous concept allows integrators (e.g., automakers) to integrate radar sensors into vehicles without needing information about the respective radar sensor's position and orientation relative to the vehicle. This allows for easy integration and reduces the effort required by automakers. Furthermore, it allows for easy aftermarket installation or replacement of radar sensors using the described concept for avoiding interference. Moreover, the time interval between determining the radar transceiver's transmission orientation and allocating frequency subbands is significantly reduced or almost negligible. When the vehicle's route suddenly or frequently turns, the radar sensor can immediately switch frequency subbands when the radar transceiver's transmission orientation changes. When multiple such radar sensors are implemented in a vehicle, they operate independently. If a radar sensor fails, the faulty sensor can be replaced without replacing the rest of the radar sensors in the vehicle. This new concept can be easily implemented using existing radar sensors.

[0046] Figures 4 to 6 The diagram shows that it can be used Figure 2 Other examples of radar sensors implemented in vehicle 210. Radar sensors 400, 500, and 600 may include Figure 3 Some or all of the characteristics of the radar sensor will be described, and only the differences will be described.

[0047] Figure 4 The radar sensor 400 shown has a radar transceiver 202a, processing circuitry 202c, and sensor 202b integrated within the same semiconductor radar package 402. In one example, sensor 202b can be implemented on the same die as radar transceiver 202a using monolithic integration techniques used for MEMS sensors or magnetic sensors. In another example, sensor 202b can be on a separate die, which is integrated with radar transceiver 202a within the same semiconductor radar package 402 using, for example, a multi-chip package. The integration of sensor 202b within the semiconductor radar package 402 allows for very compact integration of sensor 202b. Furthermore, it frees customers from the effort of performing any integration on sensor 202b.

[0048] Figure 5 The radar sensor 500 shown has a radar transceiver 202a and processing circuitry 202c integrated in the same semiconductor radar package 502, and a sensor 202b is disposed on the outside of the semiconductor radar package 502. The semiconductor radar package 502 and the sensor 202b are mounted on the same printed circuit board 202d. Figure 5 The example allows for easy manufacturing of components and easy integration on the printed circuit board 202d; however, the printed circuit board 202d of the radar sensor 500 needs to be redesigned to enable the transmission of sensor signals from the sensor 202b.

[0049] Figure 6 The radar sensor 600 shown also includes a power management chip 602 coupled to a semiconductor radar package 502 and mounted on a printed circuit board 202d. In this example, sensor 202b is integrated into the power management chip 602. As another example, sensor 202b can also be integrated into the package of power management chip 602 using a multi-chip package. Integration into power management chip 602 or its package may be easier than integration into radar transceiver 202a or as a multi-chip package into semiconductor radar package 402.

[0050] Figure 7 A flowchart of a method for operating a radar sensor in a vehicle is shown. The radar sensor includes a radar transceiver operating within an operating frequency range. In step 702 of method 700, information related to the orientation of the radar sensor is generated within the radar sensor. In a further step 704, the transmission orientation of the radar transceiver is determined based on the information related to the orientation of the radar sensor. In a further step 706, a frequency sub-band of the operating frequency range of the radar transceiver is selected according to the orientation of the radar transceiver used to transmit radar signals.

[0051] In addition to the examples above, the following examples also exist:

[0052] Example 1 discloses a method for operating a radar sensor in a vehicle, the radar sensor including a radar transceiver operating in an operating frequency range, the method comprising:

[0053] Information related to the orientation of the radar sensor is generated within the radar sensor.

[0054] The orientation of the radar transceiver's transmission is determined based on information related to the orientation of the radar sensor.

[0055] The frequency subband of the radar transceiver's operating frequency range is selected based on the orientation of the radar transceiver used to transmit radar signals.

[0056] Example 2 discloses a method according to Example 1, wherein generating orientation-related information of a radar sensor includes using a compass sensor integrated in the radar sensor to generate orientation-related information of the radar sensor.

[0057] Example 3 discloses a method according to Example 1 or 2, wherein determining the orientation of the radar transceiver includes determining the orientation of the radar transceiver relative to a reference system.

[0058] Example 4 discloses a method according to Example 3, wherein determining the orientation of the radar transceiver includes using the orientation of the main transmit lobe of the radar transceiver relative to the radar sensor.

[0059] Example 5 discloses a method according to Examples 1 to 4, wherein allocating frequency subbands of the operating frequency range of a radar transceiver to the radar transceiver includes allocating frequency subbands of the operating frequency range of the radar transceiver to the radar transceiver based on predetermined information stored in the memory of the radar sensor.

[0060] Example 6 discloses a method according to Example 5, wherein predetermined information stored in the memory of the radar sensor includes a lookup table or programmable software, etc.

[0061] Example 7 discloses a method according to any of the foregoing examples, wherein the frequency subband includes the start frequency and stop frequency or bandwidth of the FMCW signal transmitted by the radar transceiver.

[0062] Example 8 discloses a method according to any of the foregoing examples, wherein determining the orientation of the radar transceiver and selecting the frequency subband of the operating frequency range of the radar transceiver are performed within the radar sensor.

[0063] Example 9 discloses a radar sensor for a vehicle, comprising:

[0064] The radar transceiver operates within its operating frequency range.

[0065] The sensor is configured to determine information related to the orientation of the radar sensor;

[0066] The processing circuitry is configured to determine the transmission orientation of the radar transceiver based on information related to the orientation of the radar sensor, and to allocate frequency sub-bands of the radar transceiver's operating frequency range to the radar transceiver based on the information received from the sensor related to the transmission orientation of the radar sensor.

[0067] The printed circuit board is mechanically and electrically coupled to the radar transceiver, sensor, and processing circuitry.

[0068] Example 10 discloses a radar sensor according to Example 9, wherein the sensor is configured to determine information related to the orientation of a radar transceiver relative to a reference system.

[0069] Example 11 discloses a radar sensor according to Example 10, wherein information related to the orientation of the radar transceiver relative to a reference system includes information related to the orientation of the main transmit lobe of the radar transceiver.

[0070] Example 12 discloses a radar sensor according to Examples 9 to 11, wherein the radar transceiver, sensor and processing circuitry are integrated in the same semiconductor radar package.

[0071] Example 13 discloses a radar sensor according to Examples 9 to 11, wherein the radar transceiver and processing circuitry are integrated in the same semiconductor radar package, and the sensor is arranged on the outside of the semiconductor radar package.

[0072] Example 14 discloses a radar sensor according to Example 13, and also includes a power management chip coupled to a semiconductor radar package and mounted on a printed circuit board, wherein the sensor is integrated in the power management chip.

[0073] Example 15 discloses a radar sensor according to Examples 9 to 11, wherein a radar transceiver is integrated in a first semiconductor radar package, wherein processing circuitry is integrated in a second semiconductor radar package, and wherein the sensor is integrated in a third semiconductor radar package.

[0074] Example 16 discloses a radar sensor according to Examples 9 to 15, wherein the sensor is at least one of a magnetic sensor or a MEMS compass sensor.

[0075] Example 17 discloses a vehicle comprising:

[0076] Based on the multiple radar sensors in Examples 9-16,

[0077] The processing circuitry of each of the multiple radar sensors autonomously assigns the corresponding frequency sub-bands of the operating frequency range of the multiple radar transceivers to the corresponding radar transceivers based on information related to the orientation of the corresponding radar transceiver.

Claims

1. A method for operating a radar sensor in a vehicle, the radar sensor including a radar transceiver operating in an operating frequency range, the method comprising: Information related to the orientation of the radar sensor is generated within the radar sensor. The orientation of the radar transceiver's transmission is determined based on the information related to the orientation of the radar sensor. The frequency subband of the operating frequency range of the radar transceiver is selected according to the orientation of the radar transceiver used to transmit radar signals.

2. The method according to claim 1, wherein, Generating orientation-related information for the radar sensor includes using a compass sensor integrated into the radar sensor to generate orientation-related information for the radar sensor.

3. The method according to claim 1 or 2, wherein determining the orientation of the radar transceiver includes determining the orientation of the radar transceiver relative to the reference system.

4. The method of claim 3, wherein determining the orientation of the radar transceiver includes using the orientation of the main transmit lobe of the radar transceiver relative to the radar sensor.

5. The method according to claims 1 to 4, wherein allocating the frequency sub-band of the operating frequency range of the radar transceiver to the radar transceiver comprises: The frequency sub-bands of the operating frequency range of the radar transceiver are allocated to the radar transceiver based on predetermined information stored in the memory of the radar sensor.

6. The method of claim 5, wherein the predetermined information stored in the memory of the radar sensor includes a lookup table or programmable software, etc.

7. The method according to any one of the preceding claims, wherein the frequency sub-band includes the start frequency and stop frequency or bandwidth of the FMCW signal transmitted by the radar transceiver.

8. The method according to any one of the preceding claims, wherein determining the orientation of the radar transceiver and selecting the frequency sub-band of the operating frequency range of the radar transceiver are performed within the radar sensor.

9. A radar sensor (202, 204, 206, 208, 400, 500, 600) for a vehicle, comprising: Radar transceivers (202a, 204a, 206a, 208a) operate within their operating frequency range. Sensors (202b, 204b, 206b, 208b) are configured to determine information related to the orientation of the radar sensors (202, 204, 206, 208, 400, 500, 600). Processing circuits (202c, 204c, 206c, 208c) are configured to determine the orientation of the transmissions (T1, T2, T3, T4) of the radar transceivers (202a, 204a, 206a, 208a) based on information related to the orientation of the radar sensors (202, 204, 206, 208a), and based on information from the sensors (202b, 204b, 208a). The information received by 06b and 208b, related to the orientation of the transmissions (T1, T2, T3, T4) of the radar sensors (202, 204, 206, 208, 400, 500, 600), is used to allocate frequency sub-bands of the operating frequency range of the radar transceivers (202a, 204a, 206a, 208a) to the radar transceivers (202a, 204a, 206a, 208a). Printed circuit boards (202d, 204d, 206d, 208d) are mechanically and electrically coupled to the radar transceiver (202a, 204a, 206a, 208a), the sensor (202b, 204b, 206b, 208b), and the processing circuit (202c, 204c, 206c, 208c).

10. The radar sensors (202, 204, 206, 208, 400, 500, 600) according to claim 9, wherein the sensors (202b, 204b, 206b, 208b) are configured to determine information related to the orientation of the radar transceivers (202a, 204a, 206a, 208a) relative to a reference system.

11. The radar sensor (202, 204, 206, 208, 400, 500, 600) according to claim 10, wherein the information related to the orientation of the radar transceiver (202a, 204a, 206a, 208a) relative to the reference system includes information related to the orientation of the main transmit lobe of the radar transceiver (202a, 204a, 206a, 208a).

12. The radar sensor (400) according to claims 9 to 11, wherein the radar transceiver (202a, 204a, 206a, 208a), the sensor (202b, 204b, 206b, 208b), and the processing circuit (202c, 204c, 206c, 208c) are integrated in the same semiconductor radar package (402).

13. The radar sensor (500) according to claims 9 to 11, wherein the radar transceiver (202a, 204a, 206a, 208a) and the processing circuit (202c, 204c, 206c, 208c) are integrated in the same semiconductor radar package (502), and the sensor (202b, 204b, 206b, 208b) is arranged on the outside of the semiconductor radar package (502).

14. The radar sensor (600) according to claim 13 further includes a power management chip (602) coupled to the semiconductor radar package (502) and mounted on the printed circuit board (202d, 204d, 206d, 208d), wherein the sensor (202b, 204b, 206b, 208b) is integrated in the power management chip (602).

15. The radar sensor (202, 204, 206, 208) according to claims 9 to 11, wherein the radar transceiver (202a, 204a, 206a, 208a) is integrated in a first semiconductor radar package, wherein the processing circuit (202c, 204c, 206c, 208c) is integrated in a second semiconductor radar package, and wherein the sensor (202b, 204b, 206b, 208b) is integrated in a third semiconductor radar package.

16. The radar sensor (202, 204, 206, 208, 400, 500, 600) according to claims 9 to 15, wherein the sensor (202b, 204b, 206b, 208b) is at least one of a magnetic sensor or a MEMS compass sensor.

17. A vehicle (210), comprising: The plurality of radar sensors (202, 204, 206, 208, 400, 500, 600) according to claims 9-16, The processing circuits (202c, 204c, 206c, 208c) of each of the plurality of radar sensors (202, 204, 206, 208, 400, 500, 600) autonomously assign corresponding frequency sub-bands of the operating frequency range of the plurality of radar transceivers (202a, 204a, 206a, 208a) to the corresponding radar transceivers (202a, 204a, 206a, 208a) based on information related to the orientation of the corresponding radar transceivers (202a, 204a, 206a, 208a).

Images