UNIFORM MIMO RADARANTENNAR ARRAY WITH MAIN AND SIDE LUGS

Abstract

For example, an antenna array can comprise a multitude of antenna elements arranged in a configuration that provides a predefined array factor including a main beam between a first angle and a second angle; a first sidelobe (SL) region between the first angle and a third angle, including one or more first SL peaks below a predefined array factor value; a second SL region between the second angle and a fourth angle, including one or more second SL peaks below the predefined array factor value; and a third SL region between the third angle and a fifth angle, including one or more third SL peaks above the predefined array factor value.and a fourth SL area between the fourth angle and a sixth angle, which includes one or more fourth SL peaks above the predefined array factor value.

Description

CROSS-REFERENCE

[0001] This application claims the benefit and priority of the preliminary US patent application No. 63 / 494,241 entitled “RADAR DEVICE, SYSTEM AND METHOD”, filed on April 5, 2023, and the preliminary US patent application No. 63 / 556,787 entitled “DEVICE, SYSTEM AND METHOD OF AN ANTENNA ARRAY”, filed on February 22, 2024, the entire disclosures of which are incorporated herein by reference. BACKGROUND

[0002] Various types of devices and systems, such as wireless communication devices, can use an antenna array to transmit high-frequency (HF) signals.

[0003] For example, an antenna array (also called an "array antenna") can include a set of multiple antennas (antenna elements) that can be used to transmit and / or receive RF signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] For the sake of simplicity and clarity, the elements depicted in the figures are not necessarily drawn to scale. For example, the dimensions of some elements may be exaggerated in relation to others to clarify the representation. Furthermore, reference numbers may be repeated in the figures to indicate corresponding or analogous elements. The figures are listed below. Fig. Figure 1 is a schematic block diagram representation of a vehicle implementing a radar according to some demonstrative points. Fig. Figure 2 is a schematic block diagram representation of a robot that implements a radar according to some demonstrative points of view. Fig. Figure 3 is a schematic block diagram representation of a radar device according to some demonstrative points. Fig. Figure 4 is a schematic block diagram representation of a frequency-modulated continuous wave radar (FMCW) according to some demonstrative aspects. Fig. Figure 5 is a schematic representation of an extraction scheme that can be implemented to extract distance and velocity (Doppler) estimates from digital received radar data values ​​according to some demonstrative considerations. Fig. Figure 6 is a schematic representation of an angle determination scheme that can be implemented to determine angle of arrival (AoA) information based on a radio signal received by a receiving antenna array according to some demonstrative considerations. Fig. Figure 7 is a schematic representation of a multiple-input multiple-output radar antenna scheme (MIMO) which, according to some demonstrative points, can be implemented on the basis of a combination of transmitting (Tx) and receiving (Rx) antennas. Fig. Figure 8 is a schematic block diagram representation of elements of a radar device, including a radar front end and a radar processor, according to some demonstrative points of view. Fig. Figure 9 is a schematic representation of a radar system that includes a variety of radar devices implemented in a vehicle according to some demonstrative points. Fig. Figure 10A is a schematic illustration of a uniform antenna array. Fig. Figure 10B is a schematic illustration of a normalized antenna pattern of the uniform antenna array made of Fig. 10A, Fig. Figure 10C is a schematic representation of a single-element pattern of an antenna element of the uniform antenna array topology. Fig. 10A, and Fig. Figure 10D is a schematic representation of an array pattern response of the uniform antenna array topology. Fig. 10A, to illustrate one or more technical points which can be addressed according to some demonstrative points. Fig. Figure 11A is a schematic illustration of a non-uniform antenna array, Fig. Figure 11B is a schematic illustration of a normalized antenna pattern of the non-uniform antenna array. Fig. 11A, and Fig. Figure 11C is a schematic representation of an array pattern response of the non-uniform antenna array topology. Fig. 11A, to illustrate one or more technical points which can be addressed according to some demonstrative points. Fig. Figure 12 is a schematic block diagram representation of a device with an antenna array according to some demonstrative points. Fig. Figure 13A is a schematic illustration of an antenna array topology, Fig. Figure 13B is a schematic illustration of an array factor of the antenna array topology from Fig. 13A and Fig. Figure 13C is a schematic illustration of an array pattern of the antenna array topology from Fig. 13A according to some demonstrative points of view. Fig. Figure 14 is a schematic representation of a MIMO antenna array topology according to some demonstrative points. Fig. Figure 15 is a schematic illustration of a manufactured product according to some demonstrative points. DETAILED DESCRIPTION

[0005] The following detailed description includes numerous specific details to provide a thorough understanding of certain aspects. However, experts in the field will understand that some aspects can be implemented without these specific details. In other cases, known methods, devices, components, units, and / or circuits have not been described in detail to avoid complicating the discussion.

[0006] Discussions herein using terms such as "processing", "calculating", "calculating", "determining", "specifying", "analyzing", "testing" or the like may refer to operations and / or processes of a computer, computer platform, computing system or other electronic computing device which convert physical (e.g. electronic) quantities in the registers and / or memories of the computer into other data which are similarly represented as physical quantities in the registers and / or memories of the computer or any other information storage medium capable of storing instructions for carrying out operations and / or processes.

[0007] The expressions "multitude" and "a multitude," as used herein, include, for example, "several" or "two or more." For example, "a multitude of articles" includes two or more articles.

[0008] The words "exemplary" and "demonstrative" are used here to mean "as an example, instance, demonstration, or illustration." Any viewpoint or design described herein as "exemplary" or "demonstrative" is not necessarily to be construed as preferential or advantageous over other viewpoints or designs.

[0009] References to “a point of view”, “a viewpoint”, “a demonstrative viewpoint”, “various viewpoints”, etc., indicate that the viewpoint(s) so described may include a particular feature, structure, or property, but not every viewpoint necessarily includes that particular feature, structure, or property. Furthermore, the repeated use of the phrase “in a viewpoint” does not necessarily refer to the same viewpoint, although it may.

[0010] As used herein, the use of the ordinal adjectives 'first', 'second', 'third', etc. to describe a common object, unless otherwise stated, merely indicates that different instances of similar objects are being referred to, and is not intended to imply that the objects so described must be in any particular sequence, be it temporal, spatial, rank-wise, or in any other way.

[0011] The expressions "at least one" and "one or more" can be understood to include a numerical quantity greater than or equal to one, e.g., one, two, three, four, [...] etc. The phrase "at least one of" in relation to a group of elements can be used here to mean at least one element from the group of elements. For example, the phrase "at least one of" in relation to a group of elements can be used here to mean one of the listed elements, a multitude of one of the listed elements, a multitude of individual listed elements, or a multitude of multiples of individual listed elements.

[0012] The term "data," as used herein, may be understood to include information in any suitable analog or digital form, e.g., provided as a file, as a section of a file, as a set of files, as a signal or stream, as a section of a signal or stream, as a set of signals or streams, and the like. Furthermore, the term "data" may also be used as a reference to information, e.g., in the form of a pointer. However, the term "data" is not limited to the foregoing examples and may take various forms and / or represent any information as understood in engineering.

[0013] The terms "processor" or "controller" can be understood to encompass any type of technological unit capable of handling any suitable type of data and / or information. The data and / or information can be handled according to one or more specific functions performed by the processor or controller. Furthermore, a processor or controller can be understood to mean any type of switching logic, such as any type of analog or digital switching logic.A processor or controller can therefore be or include analog switching logic, digital switching logic, a mixed-signal circuit, a logic circuit, a processor, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), integrated switching logic, an application-specific integrated circuit (ASIC), or any combination thereof. Any other type of implementation of the respective functions, which are described in more detail below, can also be understood as a processor, controller, or logic circuit.It is self-evident that two (or more) processors, controllers or logical switching logics described herein can be realized as a single unit with equivalent functionality or the like, and that conversely, each individual processor, controller or logical switching logic described herein can be realized as two (or more) separate units with equivalent functionality or the like.

[0014] The term "memory" refers to any computer-readable medium (e.g., non-transient computer-readable medium) capable of storing data or information for retrieval. References to "memory" may be understood to include volatile or non-volatile memory, including random-access memory (RAM), read-only memory (ROM), flash memory, solid-state storage, magnetic tape, hard disk drive, optical drive, and others, or any combination thereof. Registers, shift registers, processor registers, data buffers, among others, are also included here under the term "memory." The term "software" may be used to refer to any type of executable instruction and / or logic, including firmware.

[0015] A "vehicle" can include any type of powered object. For example, a vehicle can be a powered object with an internal combustion engine, an electric motor, a reaction engine, an electrically powered object, a hybrid-powered object, or a combination thereof. A vehicle can be or include a car, a bus, a minibus, a van, a truck, a motorhome, a trailer, a motorcycle, a bicycle, a tricycle, a locomotive, a train car, a self-propelled robot, a people mover, a boat, a ship, a submersible, a submarine, a drone, an aircraft, a rocket, and much more.

[0016] The term "land vehicle" includes any type of vehicle configured to move on the ground, e.g. on a road, path, track, rail or rail, off-road or the like.

[0017] An "autonomous vehicle" can describe a vehicle capable of implementing at least one navigation change without driver input. A navigation change can describe or include a change in steering, braking, acceleration / deceleration, or any other operation related to the vehicle's movement. A vehicle can also be described as autonomous even if it is not fully autonomous, for example, if it operates with or without driver input. Autonomous vehicles can include vehicles that can operate under driver control during certain periods and without driver control during other periods.Additionally or alternatively, autonomous vehicles may include vehicles that control only some aspects of vehicle navigation, such as steering to maintain a course between lane markings, or some steering operations under certain circumstances (e.g., not under all circumstances), while leaving other aspects of vehicle navigation to the driver (e.g., braking or deceleration under certain circumstances). Additionally or alternatively, autonomous vehicles may include vehicles that jointly control one or more aspects of vehicle navigation under certain circumstances (e.g., "hands-on," i.e., in response to driver input); and / or vehicles that control one or more aspects of vehicle navigation under certain circumstances (e.g., "hands-off," i.e., independently of driver input).Additionally or alternatively, autonomous vehicles can include vehicles that control one or more aspects of vehicle navigation under certain circumstances, such as specific environmental conditions, e.g., spatial areas, road conditions, or the like. In some aspects, autonomous vehicles can take over some or all aspects of braking, speed control, steering, and / or other ancillary vehicle operations. An autonomous vehicle can include those capable of driving without a driver. The level of autonomy of a vehicle can be described or determined by the Society of Automotive Engineers (SAE) classification of the vehicle, e.g., as defined by the SAE, for example, in SAE J3016 2018: Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles, or by other relevant professional organizations.The SAE level can have a value ranging from a minimum level, e.g., level 0 (essentially no automation of driving), to a maximum level, e.g., level 5 (essentially complete automation of driving).

[0018] An “assisted vehicle” can describe a vehicle that is able to inform a driver or occupants of the vehicle about data it has collected or information derived from it.

[0019] The term "vehicle operating data" can be understood to describe any type of characteristic relating to the operation of a vehicle. For example, "vehicle operating data" can describe the condition of the vehicle, such as the vehicle's tire type, make and model, and / or age. Generally, the term "vehicle operating data" can describe or include static characteristics or static vehicle operating data (e.g., characteristics or data that do not change over time). As another example, additionally or alternatively, "vehicle operating data" can describe or include characteristics that change during the operation of the vehicle, such as environmental conditions like weather or road conditions during operation, fuel levels, fluid levels, operating parameters of the vehicle's power source, or the like.In general, the term "vehicle operating data" can describe or include different characteristics or varying vehicle operating data (e.g., characteristics or data that vary over time).

[0020] Some aspects can be used in conjunction with various devices and systems, for example, a radar sensor, radar device, radar system, vehicle, vehicle system, autonomous vehicle system, vehicle communication system, vehicle device, airborne platform, waterborne platform, road infrastructure, sports infrastructure, urban surveillance infrastructure, static infrastructure platforms, indoor platforms, moving platforms, robot platforms, industrial platforms, sensor device, user equipment (UE), mobile device (MD), wireless station (STA), sensor device, non-vehicle-bound device, mobile or portable device, and the like.

[0021] Some aspects can be used in conjunction with systems using high frequencies (HF), radar systems, vehicle radar systems, autonomous systems, robot systems, detection systems, or the like.

[0022] Some demonstrative aspects can be used in conjunction with an RF frequency in a frequency band with a starting frequency above 10 gigahertz (GHz), for example, a frequency band with a starting frequency between 10 GHz and 120 GHz. For example, some demonstrative aspects can be used in conjunction with an RF frequency with a starting frequency above 30 GHz, for example, above 45 GHz, e.g., above 60 GHz. For example, some demonstrative aspects can be used in conjunction with an automotive radar frequency band, e.g., a frequency band between 76 GHz and 81 GHz. However, other aspects can also be implemented in other suitable frequency bands, for example, in a frequency band above 140 GHz, a frequency band of 300 GHz, a sub-terahertz (THz) band, a THz band, an infrared (IR) band, and / or another frequency band.

[0023] As used herein, the term "switching logic" may refer to, be part of, or include an application-specific integrated circuit (ASIC), an integrated circuit, an electronic circuit, a processor (common, dedicated, or group), and / or memory (common, dedicated, or group) that executes one or more software or firmware programs, a combinational logic circuit, and / or other suitable hardware components that provide the described functionality. In some views, certain functions associated with the switching logic may be implemented by one or more software or firmware modules. In some views, the circuit may include logic that is at least partially executable in hardware.

[0024] The term "logic" can refer, for example, to computational logic embedded in the switching logic of a computing device and / or to computational logic stored in the memory of a computing device. For instance, the logic may be accessible to a processor of the computing device to execute computational functions and / or operations. The logic may be embedded in various types of memory and / or firmware, such as silicon blocks in different chips and / or processors. The logic may be included in and / or implemented as part of various switching logics, such as radio switching logics, receiver switching logics, control switching logics, transceiver switching logics, processor switching logics, and / or the like.In one example, the logic can be embedded in volatile memory and / or non-volatile memory, including random-access memory, read-only memory, programmable memory, magnetic memory, flash memory, persistent memory, and / or the like. The logic can be executed by one or more processors, using memory such as registers, buffers, stacks, and the like, associated with the one or more processors, for example, when required to execute the logic.

[0025] The term "communicate," as used here in relation to a signal, includes both sending and receiving the signal. For example, a device capable of communicating a signal may include a transmitter for sending the signal and / or a receiver for receiving it. The verb "communicate" can be used with reference to the act of transmitting or receiving. For instance, the phrase "to communicate a signal" may refer to the sending of the signal by a transmitter and does not necessarily include the receiving of the signal by a receiver. In another example, the phrase "to communicate a signal" may refer to the receiving of the signal by a receiver and does not necessarily include the sending of the signal by a transmitter.

[0026] The term "antenna," as used herein, may include any suitable configuration, structure, and / or arrangement of one or more antenna elements, components, units, assemblies, and / or arrays. In some perspectives, the antenna may implement transmit and receive using separate transmit and receive antenna elements. In other perspectives, the antenna may implement transmit and receive functions with common and / or integrated transmit / receive elements. For example, the antenna may include a phased array antenna, a MIMO (multiple-input multiple-output) array antenna, a single-element antenna, an array of switching beam antennas, and / or the like. In another example, an antenna may be implemented as a separate element or as an integrated element, for example, as an on-module antenna, an on-chip antenna, or according to another antenna architecture.

[0027] Some demonstrative aspects are described here in relation to RF radar signals. However, other aspects can be implemented in relation to or in conjunction with other radar signals, wireless signals, IR signals, acoustic signals, optical signals, wireless communication signals, communication schemes, networks, standards, and / or protocols. For example, some demonstrative aspects can be implemented in relation to systems such as light detection systems (LiDAR) and / or sonar systems that utilize light and / or acoustic signals.

[0028] It will now be on Fig. 1 Reference is made to the schematically illustrating a block diagram of a vehicle 100 which implements a radar in some demonstrative aspects according to some demonstrative aspects.

[0029] In some demonstrative points of view, vehicle 100 can include a car, a truck, a motorcycle, a bus, a train, an aircraft, a watercraft, a cart, a golf cart, an electric cart, a means of transport or any other vehicle.

[0030] In some demonstrative aspects, the vehicle 100 may include a radar device 101, as described below. For example, the radar device 101 may include a radar detection device, a radar sensor device, a radar sensor, or the like, as described below.

[0031] In some demonstrative aspects, the radar device 101 can be implemented as part of a vehicle system, for example a system that is implemented and / or installed in the vehicle 100.

[0032] For example, the radar device 101 can be implemented as part of an autonomous vehicle system, an automated driving system, an assisted vehicle system, a driver assistance and / or support system and / or similar.

[0033] For example, the radar device 101 can be installed in the vehicle 100 to detect nearby objects, e.g. during autonomous driving.

[0034] In some demonstrative aspects, the radar device 101 can be configured to detect targets in the vicinity of the vehicle 100, e.g., in a distant environment and / or a near environment, for example using RF and analog chains, capacitor structures, large spiral transformers and / or other electronic or electrical elements, for example as described below.

[0035] For example, the radar device 101 can be mounted on the vehicle 100, e.g. placed directly on the vehicle or attached to it.

[0036] In some demonstrative points of view, the vehicle 100 can include a variety of radar devices, the vehicle 100 can include a single radar device 101.

[0037] In some demonstrative points of view, the vehicle 100 can include a variety of radar devices 101 which can be configured to cover a 360-degree field of view around the vehicle 100.

[0038] In other respects, the vehicle 100 may include any other suitable count, arrangement and / or configuration of radar devices and / or units suitable to cover any other field of view, e.g. a field of view of less than 360 degrees.

[0039] In some demonstrative points of view, the radar device 101 can be implemented as a component in a series of sensors used for driver assistance and / or autonomous vehicles, for example due to the radar's ability to operate in almost all weather conditions.

[0040] In some demonstrative aspects, the radar device 101 can be configured to support use in autonomous vehicles, as described below.

[0041] In one example, the radar device 101 can determine a class, location, orientation, speed, intention, perceptual understanding of the environment and / or any other information corresponding to an object in the environment.

[0042] In another example, the radar device 101 can be configured to determine one or more parameters and / or information for one or more operations and / or tasks, e.g., for path planning and / or other tasks.

[0043] In some demonstrative points of view, the radar device 101 can be configured to map a scene by measuring the echoes (reflectivity) of targets and distinguishing them, for example, mainly in distance, speed, azimuth and / or elevation, as described below.

[0044] In some demonstrative points of view, the radar device 101 can be configured to detect and / or perceive one or more objects that are in the vicinity, e.g., at a distance and / or near the vehicle 100, and to provide one or more parameters, attributes and / or information relating to the objects.

[0045] In some demonstrative points of view, the objects may include road users, such as other vehicles, pedestrians, road objects and markings, such as traffic signs, traffic lights, road markings, road elements, e.g. a cobblestone crossing, a road edge, a road profile, a road roughness (or smoothness), general objects, such as a hazard, e.g. a tire, a box, a crack in the road surface, and / or the like.

[0046] In some demonstrative points of view, one or more parameters, attributes and / or information relating to the object may include a distance of the object from vehicle 100, an angle of the object relative to vehicle 100, a location of the object relative to vehicle 100, a relative speed of the object relative to vehicle 100 and / or the like.

[0047] In some demonstrative aspects, the radar device 101 can include a multi-input, multi-output (MIMO) radar device 101, for example, as described below. In one example, the MIMO radar device can be configured to use "spatial filtering," for example, beamforming and / or another mechanism, for one or both of the transmit (Tx) and / or receive (Rx) signals.

[0048] Some demonstrative aspects are described below with regard to a radar device, e.g., radar device 101, which is implemented as a MIMO radar. In other cases, however, radar device 101 can also be implemented as any other type of radar with a multitude of antenna elements, e.g., as a single-input, multiple-output (SIMO) radar or as a multiple-input, single-output (MISO) radar.

[0049] Some demonstrative aspects can be implemented with respect to a radar device, e.g., radar device 101, which is implemented as a MIMO radar, as described below. However, in other aspects, radar device 101 can also be implemented as any other type of radar, for example, as an electronic beam steering radar, as a synthetic aperture radar (SAR), as an adaptive and / or cognitive radar that changes its transmission according to the environment and / or ego state, as a reflecting array radar, or the like.

[0050] In some demonstrative points of view, the radar device 101 can include an antenna assembly 102, a radar front end 103 configured to transmit radar signals via the antenna assembly 102, and a radar processor 104 configured to generate radar information based on the radar signals, as described below.

[0051] In some demonstrative aspects, the radar processor 104 can be configured to process radar information from the radar device 101 and / or to control one or more operations of the radar device 101, as described below.

[0052] In some demonstrative aspects, the radar processor 104 may partially or completely include or implement switching logic and / or logic, e.g., one or more processors with switching logic and / or logic, memory switching logic and / or logic. Additionally or alternatively, one or more functionalities of the radar processor 104 may be implemented by logic that can be executed by a machine and / or one or more processors, e.g., as described below.

[0053] In one example, the radar processor 104 can include at least one memory which is coupled to the one or more processors and which can be configured to at least temporarily store at least some of the information processed by the one or more processors and / or the switching logic, and / or which can be configured to store the logic to be used by the processors and / or the switching logic.

[0054] In other respects, the radar processor 104 can be implemented by one or more additional or alternative elements of the vehicle 100.

[0055] In some demonstrative points of view, the radar frontend 103 can, for example, include one or more (radar) transmitters and one or more (radar) receivers, e.g. as described below.

[0056] From some demonstrative perspectives, the antenna arrangement 102 can include a variety of antennas for communicating the radar signals. For example, the antenna arrangement 102 can include multiple transmitting antennas in the form of a transmitting antenna array and multiple receiving antennas in the form of a receiving antenna array. In another example, the antenna arrangement 102 can include one or more antennas that function as both transmitting and receiving antennas. In the latter case, the radar front end 103 can, for example, include a duplexer or a circulator, i.e., switching logic for separating the transmitted from the received signals.

[0057] In some demonstrative aspects, such as in Fig. As shown in Figure 1, the radar front end 103 and the antenna arrangement 102 can be controlled, e.g. by the radar processor 104, to send a radio transmission signal 105.

[0058] In some demonstrative aspects, such as in Fig. As shown in Figure 1, the radio transmission signal 105 can be reflected by an object 106, resulting in an echo 107.

[0059] In some demonstrative points of view, the radar device 101 can receive the echo 107, e.g. via the antenna arrangement 102 and the radar front end 103, and the radar processor 104 can generate radar information, e.g. by calculating information about the position, radial velocity (Doppler) and / or direction of the object 106, e.g. in relation to the vehicle 100.

[0060] In some demonstrative aspects, the radar processor 104 can be configured to provide the radar information to a vehicle control unit 108 of the vehicle 100, e.g. for autonomous driving of the vehicle 100.

[0061] In some demonstrative aspects, at least part of the functionality of the radar processor 104 can be implemented as part of the vehicle control unit 108. In other aspects, the functionality of the radar processor 104 can be implemented as part of any other element of the radar device 101 and / or the vehicle 100. In still other aspects, the radar processor 104 can be implemented as a separate part or as part of another element of the radar device 101 and / or the vehicle 100.

[0062] In some demonstrative points of view, the vehicle control 108 can be configured to control one or more functions, operating modes, components, devices, systems and / or elements of the vehicle 100.

[0063] In some demonstrative aspects, the vehicle control unit 108 can be configured to control one or more vehicle systems of the vehicle 100, e.g., as described below.

[0064] In some demonstrative points of view, the vehicle systems may include, for example, a steering system, a braking system, a drive system and / or any other system of the vehicle 100.

[0065] In some demonstrative aspects, the vehicle control unit 108 can be configured to control the radar device 101 and / or process one or more parameters, attributes and / or information of the radar device 101.

[0066] In some demonstrative aspects, the vehicle control unit 108 can, for example, be configured to control the vehicle systems of the vehicle 100, for example based on radar information from the radar device 101 and / or one or more other sensors of the vehicle 100, e.g. light detection and distance measurement (LIDAR) sensors, camera sensors and / or the like.

[0067] In one example, the vehicle control unit 108 can control the steering system, the braking system and / or other vehicle systems of the vehicle 100, for example based on information from the radar device 101, e.g. based on one or more objects detected by the radar device 101.

[0068] In other respects, the vehicle control unit 108 can be configured to control all other additional or alternative functions of the vehicle 100.

[0069] Some demonstrative aspects are described here with regard to a radar device 101 implemented in a vehicle, e.g., vehicle 100. In other aspects, a radar device, e.g., radar device 101, can be implemented as part of any other element of a traffic system or network, for example, as part of road infrastructure and / or any other element of a traffic network or system. Other aspects can be implemented with regard to any other system, environment, and / or device, which can be implemented in any other object, environment, location, or place.For example, the radar device 101 can be part of a device not installed in a vehicle, which may be implemented, for example, in an indoor location, on stationary outdoor infrastructure, or at any other location.

[0070] In some demonstrative aspects, the Radar Device 101 can be configured to support security applications. For example, the Radar Device 101 can be configured to determine the type of operation, such as the intrusion of a person, an animal, movement in the environment, and the like, in order to identify the threat level of a detected event, and / or other additional or alternative operations.

[0071] Some demonstrative aspects can be implemented with regard to any other additional or alternative devices and / or systems, for example for a robot, as described below.

[0072] In other respects, the radar device 101 can be configured to support other uses and / or applications.

[0073] It will now be on Fig. 2 referenced, which schematically illustrates a block diagram of a robot 200 implementing a radar, in accordance with some demonstrative points.

[0074] In some demonstrative aspects, the robot 200 can include a robot arm 201. For example, the robot 200 can be implemented in a factory to handle an object 213. This object could be, for example, a part to be attached to a product that is currently being manufactured. The robot arm 201 can include a variety of movable elements, such as the movable elements 202, 203, 204, and a support 205. The movement of the movable elements 202, 203, and / or 204 of the robot arm 201, for example, by actuating the associated motors, can enable physical interaction with the environment to perform a task, such as handling the object 213.

[0075] In some demonstrative aspects, the robot arm 201 can include a variety of joint elements, e.g., joint elements 207, 208, 209, which can connect, for example, elements 202, 203, and / or 204 to each other and to the support 205. For example, a joint element 207, 208, 209 can have one or more joints, each of which can provide rotatable movement, e.g., a rotational movement, and / or translational movement, e.g., a displacement, for associated elements and / or movement of elements relative to each other. The movement of elements 202, 203, 204 can be initiated by suitable actuators.

[0076] From a demonstrative point of view, the element furthest from support 205, e.g., element 204, can also be referred to as the end effector 204 and may include one or more tools, such as a claw for grasping an object, a welding tool, or the like. Other elements, e.g., elements 202 and 203, which are closer to support 205, can be used to change the position of the end effector 204, e.g., in three-dimensional space. For example, the robot arm 201 can be configured to function similarly to a human arm, e.g., with a tool at its end.

[0077] In some demonstrative aspects, the robot 200 can include a (robot) controller 206 configured to implement interaction with the environment, e.g., by controlling the actuators of the robot arm, for example, according to a control program to control the robot arm 201 according to the task to be performed.

[0078] In some demonstrative terms, an actuator can include a component capable of influencing a mechanism or process in response to a control input. The actuator can respond to commands from the controller (called activation) by performing a mechanical movement. This means that an actuator, typically a motor (or electromechanical transducer), can be configured to convert electrical energy into mechanical energy when activated (i.e., controlled).

[0079] In some demonstrative aspects, the control unit 206 can communicate with a radar processor 210 of the robot 200.

[0080] In some demonstrative aspects, a radar front end 211 and a radar antenna assembly 212 can be connected to the radar processor 210. For example, the radar front end 211 and / or the radar antenna assembly 212 can be included as part of the robot arm 201.

[0081] In some demonstrative aspects, the radar front end 211, the radar antenna assembly 212, and the radar processor 210 can be operated as a radar device and / or configured to form a radar device. For example, the antenna assembly 212 can be configured to perform one or more functions of the antenna assembly 102 ( Fig. 1) performs, the radar frontend 211 can be configured to perform one or more functions of the radar frontend 103 ( Fig. 1) performs, and / or the radar processor 210 can be configured to perform one or more functions of the radar processor 104 ( Fig. 1) carries out, e.g. as described above.

[0082] In some demonstrative aspects, for example the radar front end 211 and the antenna arrangement 212 can be controlled, e.g. by the radar processor 210, to send a radio transmission signal 214.

[0083] In some demonstrative aspects, such as in Fig. As shown in Figure 2, the radio transmission signal 214 can be reflected by the object 213, resulting in an echo 215.

[0084] In some demonstrative aspects, the echo 215 can be received, e.g. via the radar antenna arrangement 212 and the radar front end 211, and the radar processor 210 can generate radar information, e.g. by calculating information about the position, speed (Doppler) and / or direction of the object 213, e.g. in relation to the robot arm 201.

[0085] In some demonstrative aspects, the radar processor 210 can be configured to provide the radar information to the robot controller 206 of the robot arm 201, for example, to control the robot arm 201. For example, the robot controller 206 can be configured to control the robot arm 201 based on the radar information, for example, to grasp the object 213 and / or perform another operation.

[0086] Reference is made to Fig. Figure 3, which schematically illustrates a radar device 300 according to some demonstrative points.

[0087] In some demonstrative aspects, the radar device 300 can be implemented as part of a device or system 301, e.g. as described below.

[0088] For example, the radar unit 300 can be described as part of the above with reference to Fig. 1 and / or Fig. The radar device 300 can be implemented and / or configured as described in section 2 to perform one or more operations and / or functionalities. In other respects, the radar device 300 can be implemented as part of any other device or system 301.

[0089] In some demonstrative aspects, the radar device 300 can include an antenna arrangement that may include one or more transmitting antennas 302 and one or more receiving antennas 303. In other aspects, any other antenna arrangement can be implemented.

[0090] In some demonstrative points of view, the radar device 300 can include a radar front end 304 and a radar processor 309.

[0091] In some demonstrative aspects, such as in Fig. As shown in Figure 3, the one or more transmitting antennas 302 can be coupled to a transmitter (or transmitter arrangement) 305 of the radar front end 304; and / or the one or more receiving antennas 303 can be coupled to a receiver (or receiver arrangement) 306 of the radar front end 304, e.g. as described below.

[0092] In some demonstrative points of view, the transmitter 305 may include one or more elements, for example an oscillator, a power amplifier and / or one or more other elements configured to generate radio transmit signals to be sent by the one or more transmitting antennas 302, for example as described below.

[0093] In some demonstrative aspects, the radar processor 309 can, for example, provide digital radar transmit data values ​​to the radar front end 304. For instance, the radar front end 304 can include a digital-to-analog converter (DAC) 307 to convert the digital radar transmit data values ​​into an analog transmit signal. The transmitter 305 can then convert this analog transmit signal into a radio transmit signal to be sent by the transmitting antennas 302.

[0094] In some demonstrative points of view, the receiver 306 may include one or more elements, for example one or more mixers, one or more filters and / or one or more other elements configured to process, down-convert, radio signals received via the one or more receiving antennas 303, for example as described below.

[0095] In some demonstrative aspects, the receiver 306 can, for example, convert a radio signal received via one or more receiving antennas 303 into an analog signal. The radar front-end 304 can include an analog-to-digital converter (ADC) 308 to generate digital radar reception data values ​​based on the analog reception signal. For example, the radar front-end 304 can provide the digital radar reception data values ​​to the radar processor 309.

[0096] In some demonstrative aspects, the radar processor 309 can be configured to process the digital radar reception data values ​​to detect, for example, one or more objects in the vicinity of the device / system 301. This detection can include, for example, determining information that includes one or more of the following: distance, velocity (Doppler), direction, and / or other information about one or more objects, e.g., in relation to the system 301.

[0097] In some demonstrative aspects, the radar processor 309 can be configured to provide the acquired radar information to a control unit 310 of the device / system 301. For example, the control unit 310 can include a vehicle control unit, e.g., if the device / system 301 includes a vehicle device / system, a robot control unit, e.g., if the device / system 301 includes a robot device / system, or any other type of control unit for any other type of device / system 301.

[0098] In some demonstrative aspects, the radar information can be processed by the radar processor 309, e.g., by the system controller 310 and / or another element of the system 301, for example, in combination with information from one or more other information sources, for example, LiDAR information from a LiDAR processor, image information from an image processing-based processor, or the like.

[0099] In some demonstrative aspects, an environment model of the environment of the system 301 can be determined, e.g., by the system controller 310 and / or another element of the system 301, for example, based on the radar information of the radar processor 309 and / or the information from one or more other information sources.

[0100] In some demonstrative aspects, a policy-based system, which may be implemented by, for example, the controller 310 and / or another element of the system 301, can process the environment model to decide, for example, on one or more actions that may be taken.

[0101] In some demonstrative aspects, the system controller 310 can be configured to control one or more controlled system components 311 of the system 301, e.g., a motor, a brake, the steering, and the like, e.g., by means of one or more appropriate actuators, based on one or more action decisions.

[0102] In some demonstrative aspects, the radar device 300 can include a memory 312 or a memory 313, e.g. to store information processed by the radar 300, for example digital radar reception data values ​​processed by the radar processor 309, radar information generated by the radar processor 309 and / or any other data to be processed by the radar processor 309.

[0103] In some demonstrative aspects, the device / system 301 may, for example, include an application processor 314 and / or a communication processor 315 to implement at least partially one or more functionalities of the system controller 310 and / or to carry out communication between the system controller 310, the radar device 300, the controlled system components 311 and / or one or more additional elements of the device / system 301.

[0104] In some demonstrative aspects, the radar device 300 can be configured to generate and transmit the radio transmission signal in a form that can assist in determining distance, speed and / or direction, as described below.

[0105] For example, a radar's radio transmission signal can be configured to include a variety of pulses. For instance, a pulse transmission might include the transmission of short, high-energy bursts combined with periods when the radar is listening for echoes.

[0106] For example, to optimally support a highly dynamic situation, such as in an automotive scenario, a continuous wave (CW) can be used as the radio transmission signal. A continuous wave, e.g., with a constant frequency, can support speed determination but cannot allow distance determination, for example, because it lacks a time marker that would enable distance calculation.

[0107] In some demonstrative points of view, the radio signal 105 ( Fig. 1) transmitted using technologies such as frequency-modulated continuous wave radar (FMCW), phase-modulated continuous wave radar (PMCW), orthogonal frequency-division multiplex radar (OFDM) and / or any other type of radar technology capable of determining distance, speed and / or direction, e.g. as described below.

[0108] With reference to Fig. Figure 4, which schematically illustrates an FMCW radar device, refers to some demonstrative aspects.

[0109] In some demonstrative aspects, the FMCW radar device 400 can include a radar front-end 401 and a radar processor 402. For example, the radar front-end 304 ( Fig. 3) include one or more elements of the radar front end 401 and / or perform one or more operations and / or functionalities of the radar processor; and / or the radar processor 309 ( Fig. 3) may include one or more elements of the radar processor and / or perform one or more operations and / or functionalities of the radar processor 402.

[0110] In some demonstrative aspects, the FMCW radar device 400 can be configured to communicate radio signals according to FMCW radar technology, e.g., instead of transmitting a radio signal at a constant frequency.

[0111] In some demonstrative aspects, the radio front end 401 can be configured to ramp up and down the frequency of the transmit signal, e.g., periodically, for example, according to a sawtooth waveform 403. In other aspects, a triangle waveform or another suitable waveform can be used.

[0112] In some demonstrative aspects, the radar processor 402 can, for example, be configured to provide the waveform 403 to the frontend 401 in digital form, e.g. as a sequence of digital values.

[0113] In some demonstrative aspects, the radar front end 401 can include a DAC 404 to convert the waveform 403 into an analog form and feed it to a voltage-controlled oscillator 405. For example, the oscillator 405 can be configured to generate an output signal that can be frequency-modulated from the waveform 403.

[0114] In some demonstrative points of view, the oscillator 405 can be configured to generate the output signal including a radio transmit signal that can be fed in and transmitted by one or more transmitting antennas 406.

[0115] In some demonstrative points of view, the radio transmit signal generated by the oscillator 405 can take the form of a sequence of chirps 407, which may be the result of modulating a sine wave with the sawtooth waveform 403.

[0116] In one example, a chirp 407 can correspond to the sine wave of the oscillator signal frequency, which can be modulated by a "tooth" of the sawtooth waveform 403, e.g. from the minimum frequency to the maximum frequency.

[0117] In some demonstrative points of view, a radar device may be configured to use radio transmission signals having the form of chirps, e.g., Chirps 407, according to a chirp modulation, e.g., as described below.

[0118] In other respects, the radar device may be configured to use radio transmission signals configured according to phase modulation (PM), digital modulation, OFDM modulation and / or another suitable type of modulation.

[0119] In some demonstrative aspects, the FMCW radar device 400 can include one or more receiving antennas 408 to receive a radio receive signal. The radio receive signal can be based on the echo of the radio transmit signal, e.g., in addition to noise, interference, or the like.

[0120] In some demonstrative points of view, the radar front end 401 can include a mixer 409 to mix the radio transmit signal with the radio receive signal to form a mixed signal.

[0121] In some demonstrative aspects, the radar front end 401 can include a filter, such as a low-pass filter (LPF) 410, which can be configured to filter the mixed signal from the mixer 409 and provide a filtered signal. For example, the radar front end 401 can include an ADC 411 to convert the filtered signal into digital radar receive data values ​​that can be provided to the radar processor 402. In another example, the filter 410 can be a digital filter, and the ADC 411 can be placed between the mixer 409 and the filter 410.

[0122] In some demonstrative points of view, the radar processor 402 can be configured to process the digital radar reception data values ​​to provide radar information, e.g., range, velocity (speed / Doppler) and / or direction (AoA) information of one or more objects.

[0123] In some demonstrative points of view, the radar processor 402 can be configured to perform a first Fast Fourier Transform (FFT) (also known as the "distance FFT") to extract a delay response that can be used to extract distance information, and / or a second FFT (also known as the "Doppler FFT") to extract a Doppler shift response that can be used to extract velocity information from the digital received data values.

[0124] From other perspectives, additional or alternative methods can be used to extract distance information. For example, in a digital radar implementation, a correlation with the transmitted signal can be used, e.g., after an implementation with adapted filters.

[0125] With reference to Fig. Figure 5 schematically illustrates an extraction scheme that can be implemented to extract range and velocity estimates (Doppler) from digital received radar data values ​​in accordance with some demonstrative considerations. For example, the radar processor 104 ( Fig. 1), the radar processor 210 ( Fig. 2), the radar processor 309 ( Fig. 3) and / or the radar processor 402 ( Fig. 4) be configured to make distance and / or velocity (Doppler) estimates from digital received radar data values ​​according to one or more aspects of the extraction scheme of Fig. 5 to win.

[0126] In some demonstrative aspects, such as in Fig. As shown in Figure 5, a radio receive signal, which may include echoes of a radio transmit signal, can be received by a receiving antenna array 501. The radio receive signal can be received by a radar front end 502 to generate digital radar receive data values, for example, as described above. The radar front end 502 can provide the digital radar receive data values ​​to a radar processor 503, which can process the digital radar receive data values ​​to provide radar information, for example, as described above.

[0127] From some demonstrative perspectives, the digital received data values ​​can be represented in the form of a 504 data cube. For example, the 504 data cube can include digitized samples of the received radio signal, based on a radio signal transmitted by one transmitting antenna and received by M receiving antennas. From some demonstrative perspectives, for example, in relation to a MIMO implementation, there can be multiple transmitting antennas, and the number of samples can be multiplied accordingly.

[0128] In some demonstrative points of view, a layer of the 504 data cube, for example a horizontal layer of the 504 data cube, can enclose patterns of an antenna, e.g. a corresponding antenna of the M-antennas.

[0129] From some demonstrative perspectives, the data cube can contain 504 samples of K-chirps. For example, the chirp samples, as in Fig. 5 shown, in a so-called “slow motion” direction in an arrangement.

[0130] From some demonstrative perspectives, the data cube can contain 504 L samples, e.g., L = 512 or any other number of samples, for a chirp, e.g., for each chirp. For example, as in Fig. Figure 5 shows that the samples per chirp are arranged in a so-called “fast time” direction of data cube 504.

[0131] In some demonstrative aspects, the 504 processor can be configured to determine distance values, Doppler values ​​and / or angle of arrival (AoA) values, e.g., azimuth values ​​and / or elevation values, for example, based on FFT techniques as described below.

[0132] In other respects, the 504 processor can be configured to determine distance values, Doppler values ​​and / or angle of arrival (AoA) values, e.g., azimuth values ​​and / or elevation values, based on super-resolution (SR) techniques and / or any other suitable processing technique.

[0133] In some demonstrative aspects, the radar processor 503 can be configured to process a large number of samples, e.g., L samples collected for each chirp and for each antenna, using a first FFT. The first FFT can be performed, for example, for each chirp and each antenna, so that a result of processing the data cube 504 by the first FFT can again have three dimensions and be the size of the data cube 504, while including values ​​for L distance bins, e.g., instead of the values ​​for the L sampling times.

[0134] In some demonstrative points of view, the radar processor 503 can be configured to process the result of the processing of the data cube 504 by the first FFT, for example by processing the result after a second FFT along the chirps, e.g. for each antenna and for each range bin.

[0135] For example, the first FFT can be performed in the "fast-motion" direction and the second FFT in the "slow-motion" direction.

[0136] In some demonstrative aspects, the result of the second FFT, e.g., when aggregating over the antennas, can provide a range / Doppler (R / D) map. The R / D map may, for example, exhibit FFT peaks that include peaks of FFT output values ​​(in the form of absolute values) for specific range / velocity combinations, e.g., for range / Doppler bins. For example, a range / Doppler bin may correspond to a range bin and a Doppler bin. For example, the radar processor may consider a peak as potentially corresponding to an object, e.g., with the range and velocity corresponding to the range and velocity bin of the peak.

[0137] In some demonstrative aspects, the extraction scheme of Fig. 5 can be implemented for an FMCW radar, e.g. for the FMCW radar 400 ( Fig. 4), as described above. In other respects, the extraction scheme of Fig. 5 can also be implemented for any other radar type. In one example, the radar processor 503 can be configured to determine a range / Doppler frequency map 505 from the digital received data values ​​of a PMCW radar, an OFDM radar, or another radar technology. For example, in adaptive or cognitive radar, the pulses in a frame, the waveform, and / or the modulation can be changed over time, e.g., according to the environment.

[0138] With reference to Fig. 3. In some demonstrative aspects, the receiving antenna arrangement 303 can be implemented with a receiving antenna array comprising a plurality of receiving antennas (or receiving antenna elements). For example, the radar processor 309 can be configured to determine the angle of arrival of the received radio signal, e.g., Echo 107 ( Fig. 1) and / or Echo 215 ( Fig. 2) For example, the radar processor 309 can be configured to determine the direction of a detected object, e.g., with respect to the device / system 301, for example, based on the angle of arrival of the received radio signal, as described below.

[0139] It will be on Fig. Reference is made to Figure 6, which schematically illustrates an angle determination scheme that can be implemented to determine information about the angle of arrival (AoA) based on an incoming radio signal received by a receiving antenna array 600, in accordance with some demonstrative considerations.

[0140] Fig. Figure 6 shows an angle determination scheme based on received signals at the receiving antenna array. In some demonstrative aspects, for example in a virtual MIMO array, the angle determination can also be based on the signals transmitted by the array of Tx antennas.

[0141] Fig. Figure 6 shows a one-dimensional scheme for determining angles. Other multi-dimensional angle determination schemes, e.g., a two-dimensional scheme or a three-dimensional scheme, can be implemented.

[0142] In some demonstrative aspects, such as in Fig. As shown in Figure 6, the receiving antenna array can include 600 M antennas (numbered, from left to right, 1 to M).

[0143] Like the arrows in Fig. Figure 6 shows that the echo is assumed to originate from an object located in the upper left. Accordingly, the direction of the echo, e.g., of the incoming radio signal, can point towards the lower right. Following this example, the further to the left a receiving antenna is located, the earlier it will receive a specific phase of the incoming radio signal.

[0144] For example, a phase difference, denoted by Δφ, between two antennas of the receiving antenna array 600 can be determined as follows: Δφ=2πλ⋅d⋅sin(θ) where λ denotes a wavelength of the incoming radio signal, d a distance between the two antennas and θ an arrival angle of the incoming radio signal, e.g. in relation to a normal direction of the array.

[0145] In some demonstrative aspects, the radar processor 309 ( Fig. 3) be configured to use this relationship between phase and angle of the incoming radio signal to determine, for example, the arrival angle of echoes by performing an FFT, e.g., a third FFT (“angle FFT”) across the antennas.

[0146] In some demonstrative applications, multiple transmitting antennas, e.g., in the form of a multi-transmitting antenna array, can be used to increase spatial resolution, for example, to provide high-resolution radar information. For instance, a MIMO radar system can use a virtual MIMO radar antenna, which can be formed by convolution of a multitude of transmitting antennas with a multitude of receiving antennas.

[0147] With reference to Fig. Figure 7 schematically illustrates a MIMO radar antenna scheme that can be implemented based on a combination of transmitting (Tx) and receiving (Rx) antennas in accordance with some demonstrative considerations.

[0148] In some demonstrative aspects, such as in Fig. As shown in Figure 7, a radar MIMO arrangement can include a transmit antenna array 701 and a receive antenna array 702. For example, the one or more transmit antennas 302 ( Fig. 3) be implemented to include the transmitting antenna array 701, and / or the one or more receiving antennas 303 ( Fig. 3) can be implemented to include the 702 receiving antenna array.

[0149] In some demonstrative points of view, antenna arrays with multiple antennas can be used both to transmit the radio signals and to receive the echoes of the radio signals in order to provide a variety of virtual channels, as shown by the dashed lines in Fig. Figure 7 illustrates this. For example, a virtual channel can be formed as a convolution, for example as a Kronecker product, between a transmitting antenna and a receiving antenna, e.g. as the virtual steering vector of the MIMO radar.

[0150] In some demonstrative points of view, a transmitting antenna, e.g., any transmitting antenna, can be configured to emit an individual radio transmit signal that, for example, has a phase associated with the respective transmitting antenna.

[0151] For example, an array with N transmitting antennas and M receiving antennas can be implemented to provide a virtual MIMO array of size N x M. For example, the virtual MIMO array can be formed using the Kronecker product operation, which is applied to the Tx and Rx steering vectors.

[0152] Fig. Figure 8 is a schematic block diagram representation of elements of a radar device 800, according to some demonstrative points. For example, the radar device 101 ( Fig. 1), the radar device 300 ( Fig. 3) and / or the radar device 400 ( Fig. 4) include one or more elements of the radar device 800 and / or perform one or more operations and / or functionalities of the radar device 800.

[0153] In some demonstrative aspects, such as in Fig. As shown in Figure 8, the radar device 800 can include a radar front-end 804 and a radar processor 834. For example, the radar front-end 103 ( Fig. 1), the radar frontend 211 ( Fig. 1), the radar front end 304 ( Fig. 3), the radar front end 401 ( Fig. 4) and / or the radar frontend 502 ( Fig. 5) include one or more elements of the Radar Frontend 804 and / or perform one or more operations and / or functionalities of the Radar Frontend 804.

[0154] In some demonstrative points of view, the radar front-end 804 can be implemented as part of a MIMO radar which uses a MIMO radar antenna 881 which includes a plurality of Tx antennas 814 which are configured to transmit a plurality of Tx RF signals (also referred to as "Tx radar signals"); and a plurality of Rx antennas 816 which are configured to receive a plurality of Rx RF signals (also referred to as "Rx radar signals"), for example based on the Tx radar signals, as described below.

[0155] In some demonstrative points of view, the MIMO antenna array 881, the antennas 814, and / or the antennas 816 can include or be part of any type of antenna suitable for transmitting and / or receiving radar signals. For example, the MIMO antenna array 881, the antennas 814, and / or the antennas 816 can be implemented as part of any suitable configuration, structure, and / or arrangement of one or more antenna elements, components, units, assemblies, and / or arrays. For example, the MIMO antenna array 881, the antennas 814, and / or the antennas 816 can be implemented as part of a phased array antenna, a multi-element antenna, a group of switching beam antennas, and / or the like.In some aspects, the MIMO antenna array 881, the antennas 814, and / or the antennas 816 can be implemented to provide transmit and receive functionality using separate transmit and receive antenna elements. In other aspects, the MIMO antenna array 881, the antennas 814, and / or the antennas 816 can be implemented to provide transmit and receive functionality using common and / or integrated transmit / receive elements.

[0156] From some demonstrative perspectives, the MIMO radar antenna 881 can include a rectangular MIMO antenna array and / or a curved array, adapted, for example, to the design of a vehicle. From other perspectives, any other shape, form, and / or arrangement of the MIMO radar antenna 881 can be implemented.

[0157] In some demonstrative points of view, the radar front end 804 can include one or more radios configured to generate and transmit the Tx RF signals via Tx antennas 814; and / or to process the Rx RF signals received via Rx antennas 816, e.g. as described below.

[0158] In some demonstrative points of view, the radar front end 804 can include at least one transmitter (Tx) 883 which includes switching logic and / or logic configured to generate and / or transmit the Tx radar signals via the Tx antennas 814.

[0159] In some demonstrative points of view, the radar front end 804 can include at least one receiver (Rx) 885 with switching logic and / or logic to receive and / or process the Rx radar signals received via the Rx antennas 816, for example based on the Tx radar signals.

[0160] In some demonstrative points of view, the transmitter 883 and / or the receiver 885 may include switching logic; logic; high-frequency (HF) elements, switching logic and / or logic; baseband elements, switching logic and / or logic; modulation elements, switching logic and / or logic; demodulation elements, switching logic and / or logic; amplifiers; analog-to-digital and / or digital-to-analog converters; filters; and / or the like.

[0161] In some demonstrative points of view, the transmitter 883 can include a variety of Tx chains 810 configured to generate and transmit the Tx RF signals, e.g., via the Tx antennas 814; and / or the receiver 885 can include a variety of Rx chains 812 configured to receive and process the Rx RF signals received, e.g., via the Rx antennas 816.

[0162] In some demonstrative aspects, the radar processor 834 can be configured to generate radar information 813, for example, based on the radar signals transmitted by the MIMO radar antenna 881, as described below. For example, the radar processor 104 ( Fig. 1), the radar processor 210 ( Fig. 2), the radar processor 309 ( Fig. 3), the radar processor 402 ( Fig. 4) and / or the radar processor 503 ( Fig. 5) include one or more elements of the radar processor 834 and / or perform one or more operations and / or functionalities of the radar processor 834.

[0163] In some demonstrative points of view, the radar processor 834 can be configured to generate radar information 813, for example, based on the radar Rx data 811 received by the multitude of Rx chains 812. For example, the radar Rx data 811 can be based on the radar Rx signals received via the Rx antennas 816.

[0164] In some demonstrative points of view, the radar processor 834 can include an input 832 to receive radar input data, e.g. including the radar Rx data 811 from the multitude of Rx chains 812.

[0165] In some demonstrative points of view, input 832 can include any suitable input interface, input unit, input module, input component, input switching logic, memory, memory access unit, memory reader, digital storage unit, bus interface, processor interface or the like, which may be capable of receiving radar input data from a memory, a processor and / or any other suitable component to provide the radar input data.

[0166] In some demonstrative aspects, the Radar Processor 834 can be partially or completely comprised of or implemented by switching logic and / or logic, e.g., one or more processors including switching logic and / or logic, memory and / or logic. Additionally or alternatively, one or more functions of the Radar Processor 834 can be implemented by logic that can be executed by a machine and / or one or more processors, as described below.

[0167] In some demonstrative points of view, the radar processor 834 can include at least one processor 836, which may, for example, be configured to process the radar Rx data 811 and / or to perform one or more operations, procedures and / or algorithms.

[0168] In some demonstrative aspects, the radar processor 834 can include at least one memory 838, which is connected, for example, to the processor 836. For example, the memory 838 can be configured to store the data processed by the radar processor 834. For example, the memory 838 can at least temporarily store at least some of the information processed by the processor 836 and / or the logic to be used by the processor 836.

[0169] In some demonstrative points of view, the 836 processor can be connected to the 838 memory, for example via a 839 memory interface.

[0170] In some demonstrative aspects, the 836 processor can be configured to access the 838 memory, e.g., to write data to the 838 memory and / or to read data from the 838 memory, for example, via the 839 memory interface.

[0171] In some demonstrative aspects, the memory 838 can be configured to store at least some of the radar data, e.g., some of the radar Rx data or all of the radar Rx data, for example, for processing by the processor 836, as described below.

[0172] In some demonstrative points of view, the memory 838 can be configured to store processed data that may be generated by the processor 836 during the process of generating the radar information 813, as described below.

[0173] In some demonstrative aspects, memory 838 can be configured to store range information and / or Doppler information generated, for example, by processor 836 based on radar-Rx data. In one example, the range and / or Doppler information can be determined based on a cross-correlation operation (XCORR) applied to the radar-Rx data. Any other additional or alternative operation, algorithm, and / or procedure can be used to generate the range and / or Doppler information.

[0174] In some demonstrative aspects, memory 838 can be configured to store AoA information, which can be generated, for example, by processor 836 based on radar receiver data, range information, and / or Doppler information. In one example, the AoA information can be determined based on an AoA estimation algorithm. Any other additional or alternative operator, algorithm, and / or procedure can be used to generate the AoA information.

[0175] In some demonstrative points of view, the radar processor 834 can be configured to generate the radar information 813, which includes one or more range information, Doppler information and / or AoA information.

[0176] In some demonstrative points of view, radar information 813 may, for example, include point cloud 1 (PC1) information, including raw point cloud estimates, e.g. distance, radial velocity, azimuth and / or elevation.

[0177] In some demonstrative points of view, the radar information 813 may include additional information that may be based on, and / or related to, the raw point cloud estimates.

[0178] In some demonstrative points of view, the radar information can include 813 metadata information that corresponds to the raw point cloud estimates.

[0179] In some demonstrative points of view, the radar information 813 may, for example, include information on a degree of reliability of the raw point cloud estimates, information on one or more parameters, conditions and / or criteria implemented in determining the raw point cloud estimates, and / or other suitable additional or alternative information.

[0180] For example, radar information may include 813 Log Likelihood Ratio (LLR) information according to raw point cloud estimates, radar cross-sectional estimate (RCS) information, SNR estimate information and / or other suitable additional or alternative information.

[0181] From some demonstrative perspectives, radar information can include 813 Point Cloud 2 (PC2) information, which can be generated, for example, based on PC1 information. For instance, PC2 information can include clustering information, tracking information (e.g., tracking of probabilities and / or density functions), bounding box information, classification information, orientation information, and the like. In one example, PC2 information can be based on one or more temporal filtering techniques that can be applied to PC1 information, such as temporal filtering of multiple frames and / or multiple PC1 instances.

[0182] In some demonstrative points of view, radar information 813 may include target tracking information corresponding to a variety of targets in an environment of radar device 800, e.g. as described below.

[0183] In some demonstrative points of view, the radar processor 834 can be configured to generate the radar information 813 in the form of four-dimensional (4D) image information, e.g. a cube, which can represent 4D information corresponding to one or more detected targets.

[0184] In some demonstrative aspects, the 4D image information can include, for example, distance values, e.g., based on distance information; velocity values, e.g., based on Doppler information; azimuth values, e.g., based on azimuth AoA information; elevation values, e.g., based on elevation AoA information; and / or any other values.

[0185] In some demonstrative points of view, the radar processor 834 can be configured to generate the radar information 813 in any other form and / or to include other additional or alternative information.

[0186] In some demonstrative points of view, the radar processor 834 can be configured to process the signals communicated via the MIMO radar antenna 881 as signals of a virtual MIMO array formed by a convolution of the plurality of Rx antennas 816 and the plurality of Tx antennas 814.

[0187] In some demonstrative aspects, the radar front-end 804 and / or the radar processor 834 can be configured to utilize MIMO techniques to support, for example, a reduced physical array aperture, such as a smaller array size, and / or to use a reduced number of antenna elements. For example, the radar front-end 804 and / or the radar processor 834 can be configured to transmit orthogonal signals via one or more Tx arrays 824 with a plurality of N elements, such as Tx antennas 814, and process received signals via one or more Rx arrays 826 with a plurality of M elements, such as Rx antennas 816.

[0188] In some demonstrative aspects, the use of MIMO technology for transmitting orthogonal signals from the Tx arrays 824 with N elements and processing the received signals in the Rx arrays 826 with M elements can be equivalent, for example, under a far-field approach, to a radar that uses transmission from one antenna and reception with N*M antennas. For example, the radar front-end 804 and / or the radar processor 834 can be configured to use the MIMO antenna array 881 as a virtual array with an equivalent array size of N*M, which can define the locations of the virtual elements, for example, as a convolution of the locations of the physical elements, such as the antennas 814 and / or 816.

[0189] From some demonstrative perspectives, a radar system can include a variety of radar devices. For example, the vehicle can have 100 ( Fig. 1) include a large number of radar devices 800, e.g. as described below.

[0190] Reference is made to Fig. Figure 9, which schematically illustrates a radar system 901, which includes a variety of radio head radar devices (RH) (also referred to as RHs) 910 implemented in a vehicle 900 according to some demonstrative points.

[0191] In some demonstrative aspects, such as in Fig. As shown in Figure 9, the multitude of RH radar devices 910 can, for example, be arranged at a multitude of positions around the vehicle 900 in order to provide, for example, radar measurement in a large field of view around the vehicle 900, as described below.

[0192] In some demonstrative aspects, such as in Fig. As shown in Figure 9, the plurality of RH radar devices 910 can, for example, include six RH radar devices 910, as described below.

[0193] In some demonstrative points of view, the multitude of RH radar devices 910 can, for example, be arranged in a multitude of positions around the vehicle 900, which can be configured to support 360-degree radar detection, for example a 360-degree field of view surrounding the vehicle 900, as described below.

[0194] In one example, 360-degree radar sensing can make it possible to provide a radar-based view of essentially the entire environment around the vehicle 900, as described below.

[0195] In other respects, the multitude of RH radar devices 910 can include any other number of RH radar devices 910, e.g., fewer than six radar devices or more than six radar devices.

[0196] In other respects, the multitude of RH radar devices 910 can be positioned in other locations and / or in a different arrangement to support radar detection in a different field of view around the vehicle 900, e.g. 360-degree radar detection or radar detection in a different field of view.

[0197] In some demonstrative aspects, such as in Fig. As shown in Figure 9, the vehicle 900 can include a first RH radar device 902, e.g. a front RH, on the front of the vehicle 900.

[0198] In some demonstrative aspects, such as in Fig. As shown in Figure 9, the vehicle 900 can include a second RH radar device 904, e.g. a rear RH, at the rear of the vehicle 900.

[0199] In some demonstrative aspects, such as in Fig. As shown in Figure 9, the vehicle 900 can include one or more RH radar devices at one or more corresponding corners of the vehicle 900. For example, the vehicle 900 can include a first RH radar device 912 at a first corner of the vehicle 900, a second RH radar device 914 at a second corner of the vehicle 900, a third RH radar device 916 at a third corner of the vehicle 900, and / or a fourth RH radar device 918 at a fourth corner of the vehicle 900.

[0200] In some demonstrative aspects, the vehicle 900 can represent one, some, or all of the multitude of [unclear] in Fig. The 9 RH radar devices shown may include the 910. For example, the vehicle 900 may include the front RH radar device 902 and / or the rear RH radar device 904.

[0201] From other perspectives, the vehicle 900 may also include other additional or alternative radar devices, for example, at other additional or alternative positions around the vehicle 900. For example, the vehicle 900 may include a side radar, e.g., on one side of the vehicle 900.

[0202] In some demonstrative aspects, such as in Fig. As shown in Figure 9, the vehicle 900 can include a radar system control 950 configured to control one or more, e.g. some or all, of the RH radar devices 910.

[0203] In some demonstrative aspects, at least part of the functionality of the radar system control 950 can be implemented by a dedicated control, e.g., a dedicated system control or central control, which may be separate from the RH radar devices 910 and may be configured to control some or all of the RH radar devices 910.

[0204] In some demonstrative aspects, at least part of the functionality of the radar system control 950 can be implemented as part of at least one RH radar device 910.

[0205] In some demonstrative aspects, at least part of the functionality of the radar system control 950 can be implemented by a radar processor of an RH radar device 910. For example, the radar processor 834 ( Fig. 8) include one or more elements of the Radar System Control 950 and / or perform one or more operations and / or functionalities of the Radar System Control 950.

[0206] In some demonstrative aspects, at least part of the functionality of the radar system control 950 can be implemented by a system control of the vehicle 900. For example, the vehicle control 108 ( Fig. 1) include one or more elements of the Radar System Control 950 and / or perform one or more operations and / or functionalities of the Radar System Control 950.

[0207] From other perspectives, one or more functionalities of the 950 control unit can be implemented as part of another element of the 900 vehicle.

[0208] In some demonstrative aspects, such as in Fig. As shown in Figure 9, one RH radar device 910 of the plurality of RH radar devices 910 can include a baseband processor 930 (also referred to as a "baseband processing unit (BPU)") which can be configured to control the communication of radar signals through the RH radar device 910 and / or to process radar signals transmitted by the RH radar device 910. For example, the baseband processor 930 can replace one or more elements of the radar processor 834 ( Fig. 8) include and / or one or more operations and / or functionalities of the radar processor 834 ( Fig. 8) carry out.

[0209] In other respects, an RH radar device 910 can exclude one or more, e.g., some or all, functionalities of the baseband processor 930 from the multitude of RH radar devices 910. For example, the controller 950 can be configured to perform one or more, e.g., some or all, functionalities of the baseband processor 930 for the RH.

[0210] In one example, the controller 950 can be configured to perform baseband processing for all RH radar devices 910, and all RH radio devices 910 can be implemented without baseband processors 930.

[0211] In another example, the controller 950 can be configured to perform baseband processing for one or more first RH radar devices 910, and the one or more first RH radar devices 910 can be implemented without baseband processors 930; and / or one or more second RH radar devices 910 can be implemented with one or more functionalities, e.g., some or all functionalities, of baseband processors 930.

[0212] In another example, one or more, e.g. some or all, RH radar devices 910 can be implemented with one or more functionalities, e.g. partial functionalities or complete functionalities, of baseband processors 930.

[0213] In some demonstrative aspects, the baseband processor 930 may include one or more components and / or elements configured for the digital processing of radar signals transmitted by the RH radar device 910, e.g., as described below.

[0214] In some demonstrative aspects, the 930 baseband processor can include one or more FFT engines, matrix multiplication machines, DSP processors and / or other additional or alternative baseband, e.g., digital, processing components.

[0215] In some demonstrative aspects, such as in Fig. As shown in Figure 9, the RH radar device 910 can include a memory 932 which can be configured to store data that is processed and / or intended to be processed by the baseband processor 930. For example, the memory 932 can contain one or more elements of the memory 838 ( Fig. 8) include and / or one or more operations and / or functionalities of memory 838 ( Fig. 8) carry out.

[0216] In some demonstrative points of view, the 932 memory can include internal memory and / or an interface to one or more external memories, e.g., external DDR (Double Data Rate) memory and / or another type of memory.

[0217] In other respects, one RH radar device 910 of the multitude of RH radar devices 910 may not contain a memory 932. For example, the RH radar device 910 may be configured to provide radar data to the controller 950, e.g., in the form of raw radar data.

[0218] In some demonstrative aspects, such as in Fig. As shown in Figure 9, the RH radar device 910 can include one or more RF units, e.g. in the form of one or more RF integrated chips (RF ICs) 920, which can be configured to transmit radar signals, e.g. as described below.

[0219] For example, an HF-IC 920 can replace one or more elements of the frontend 804 ( Fig. 8) include and / or one or more operations and / or functionalities of the frontend 804 ( Fig. 8) carry out.

[0220] In some demonstrative points of view, the multitude of HF-ICs 920 can be operated in such a way as to form a radar antenna array that includes one or more Tx antenna arrays and one or more Rx antenna arrays.

[0221] For example, the multitude of HF-ICs 920 can be operated in such a way that they form a MIMO radar antenna 881 ( Fig. 8) form the Tx arrays 824 ( Fig. 8) and / or Rx arrays 826 ( Fig. 8) includes.

[0222] In some demonstrative aspects, a radar device, e.g., as above with reference to the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. 9 described, be configured to implement one or more operations and / or functions of a hybrid uniformly sparse antenna array, e.g. as described below.

[0223] In some demonstrative aspects, a radar device, e.g., as above with reference to the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. 9 described, be configured to implement one or more operations and / or functions of a hybrid uniformly sparse antenna array with masked sidelobe level, e.g. as described below.

[0224] For example, the hybrid uniformly sparse antenna array can combine properties of uniform antenna arrays and properties of non-uniform antenna arrays, as described below.

[0225] For example, uniform antenna arrays can provide a technical solution for achieving excellent sidelobe levels (SLL). However, uniform antenna arrays can suffer from poor resolution, for example, due to a small element spacing required for grating lobe (GL) suppression, as described below.

[0226] Reference is made to Fig. 10A, which schematically illustrates a uniform antenna array topology 1010, on Fig. 10B, which schematically illustrates a normalized antenna pattern 1020 of the uniform antenna array topology 1010, on Fig. 10C, which schematically illustrates a single-element pattern 1030 of an antenna element of the uniform antenna array topology 1010, and on Fig. Figure 10D, which schematically illustrates an array pattern response 1040 of the uniform antenna array topology 1010, to illustrate one or more technical aspects which may be addressed according to some demonstrative points.

[0227] For example, as in Fig. Figure 10A shows the uniform antenna array topology, which includes a uniform antenna array topology with 8 elements, for example, including eight antenna elements.

[0228] For example, the normalized antenna pattern 1020 (also referred to as "array factor" or "antenna factor") can be determined, for example, without taking into account a contribution from a single-element pattern, e.g., the single-element pattern 1030, of the uniform antenna array topology 1010.

[0229] For example, the array pattern response 1040 of the uniform antenna array topology 1010 can represent a complete and accurate array pattern response, for example after taking into account a single-element suppression corresponding to the uniform antenna array topology 1010.

[0230] For example, the uniform antenna array 1010 can correspond to a uniform antenna array with half the wavelength, e.g. with a spacing of 1.9 millimeters (mm) or another suitable spacing between the antenna elements of the uniform antenna array 1010, for example at a frequency of 78.5 GHz or another suitable frequency.

[0231] For example, the normalized antenna pattern 1020 can be determined based on the uniform antenna array topology 1010, for example after applying a Chebyshev window, e.g. a conventional 20 decibel (dB) Chebyshev window, without taking into account the contribution of the single element pattern 1030.

[0232] For example, as in Fig. As shown in 10C, the single element pattern 1030 may be very faint, for example outside a field of view (FOV), e.g. beyond 20 degrees (°).

[0233] For example, this behavior of the single-element pattern 1030 along an elevation dimension may be common, for example in an automotive radar implementation and / or in another embodiment, for example when a relatively narrow beam is recommended, for example to reduce reflections, e.g. from a road.

[0234] As in Fig. As represented in 10D, for example, an SLL of the array pattern response 1040 can have an excellent value of 45 dB.

[0235] For example, as in Fig. As shown in 10D, the array pattern response 1040 does not include a GL, since the GL cannot occur, for example, due to the small element spacing.

[0236] For example, as in Fig. As shown in diagram 10D, the array pattern response 1040 may exhibit a relatively poor 3dB beamwidth, e.g., of approximately 10°, which is a relatively poor value. For example, a 3dB beamwidth measurement can be used as an indication of the resolution and / or separation capability supported by the uniform antenna array topology 1010.

[0237] From some demonstrative perspectives, for example in some use cases and / or scenarios, it may be disadvantageous to implement a uniform antenna array that includes a large number of array elements, for example to achieve improved resolution and / or improved SLL.

[0238] In one example, a large number of array elements can increase the cost, size, and complexity. For instance, it may be necessary to reduce the number of array elements to decrease the size and / or cost of such a uniform antenna array. Consequently, the uniform array may provide poor resolution and therefore be less advisable.

[0239] For example, non-uniform arrays can be used instead of uniform arrays to reduce the number of array elements and thus achieve improved resolution.

[0240] For example, non-uniform arrays can have a higher resolution than uniform arrays and avoid GL. However, non-uniform arrays may have a lower SLL, e.g., compared to uniform arrays.

[0241] Reference is made to Fig. 11A, which schematically illustrates a non-uniform antenna array topology 1110, on Fig. 11B, which schematically illustrates a normalized antenna pattern 1120 of the non-uniform antenna array topology 1110, and on Fig. Figure 11C, which schematically illustrates an array pattern response 1140 of the non-uniform antenna array topology 1110, to illustrate one or more technical aspects which may be addressed according to some demonstrative points.

[0242] For example, as in Fig. Figure 11A shows the non-uniform antenna array topology, which includes an 8-element non-uniform antenna array topology, for example, eight antenna elements.

[0243] For example, the normalized antenna pattern 1120 can be determined without taking into account a contribution from a single-element pattern of the non-uniform antenna array topology 1110.

[0244] For example, the array pattern response 1140 of the non-uniform antenna array topology 1110 can represent a complete and accurate array pattern response, for example after taking into account a single-element suppression that corresponds to the uniform antenna array topology 1110.

[0245] For example, the non-uniform antenna array 1110 can be optimized for optimal SLL over an entire room, e.g. with angles up to ±90°.

[0246] For example, the element positions of the eight antenna elements of the non-uniform antenna array 1110 and / or a window, e.g. a unique window, can be determined, for example, on the basis of a combined convex and non-convex optimization procedure.

[0247] For example, the non-uniform antenna array 1110 can be configured with eight antenna elements to allow a valid comparison between the non-uniform antenna array 1110 and the uniform antenna array 1010 ( Fig. 10A).

[0248] For example, as in Fig. Figure 11C shows the array pattern response 1140 of the non-uniform antenna array topology 1110 not including GL, similar to the uniform antenna array topology 1010 ( Fig. 10A), although the average distance between the eight antenna elements of the non-uniform antenna array topology 1110 may be greater than the wavelength of the signals to be transmitted via the antenna array.

[0249] For example, as in Fig. Figure 11C shows that the array pattern response 1140 of the non-uniform antenna array topology 1110 exhibits a 3 dB beamwidth of approximately 4°, which can be a relatively good value. The improved 3 dB beamwidth can be achieved, for example, as a result of an array size of the non-uniform antenna array topology 1110 that can be much larger than an array size of the uniform antenna array topology 1010 ( Fig. 10A).

[0250] For example, as in Fig. Figure 11C shows that the array pattern response 1140 of the non-uniform antenna array topology 1110, for example, exhibits an SLL of approximately 11 dB even after applying an optimal window. This SLL value of the array pattern response 1140 can be significantly worse than the SLL value of the array pattern response 1040 ( Fig. 10D), which corresponds to the uniform antenna array 1010 ( Fig. 10A).

[0251] In some demonstrative aspects, a radar device, for example as above with reference to the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. 9 described, be configured to implement an embodiment for one or more operations and / or functions of a novel hybrid uniformly sparse antenna array topology, which may be configured to provide a technical solution to support high resolution and / or good SLL, for example by using a unique maximum likelihood (ML) processing, as described below.

[0252] In some demonstrative aspects, a single-element rejection mask can be used, for example during an optimization process that seeks the best array element positions for the hybrid uniformly sparse array topology, for example in such a way that a further improvement of the SLL can be achieved, as described below.

[0253] In some demonstrative aspects, a radar device, e.g., as above with reference to the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. 9 described, be configured to implement one or more operations and / or functions of a hybrid uniformly sparse array topology, which may be configured such that a first part of the array elements is arranged on a uniform grid and a second part of the array elements is arranged on a non-uniform grid, e.g. as described below.

[0254] In some demonstrative aspects, the hybrid uniformly sparse array topology can be configured to provide a technical solution to support improved resolution and / or SLL, for example by meaningfully processing and / or merging information from the uniform grid and the non-uniform grid, as described below.

[0255] From some demonstrative perspectives, the hybrid uniformly sparse array topology can be configured to provide a technical solution for improving SLL, for example, within the field of view (FOV), rather than attempting to reduce SLL across the entire space, including angles outside the FOV. For instance, SLL can be improved by optimizing SLL values ​​within the FOV, while a single-element mask can attenuate the signal outside the FOV.

[0256] In some demonstrative aspects, the hybrid uniformly sparse array topology can be implemented to provide a technical solution that utilizes the principles of a hybrid uniformly sparse array and SLL masking, for example, in such a way that an overall high resolution and / or very good SLL can be achieved, e.g., compared to other solutions.

[0257] In some demonstrative aspects, the hybrid uniformly sparse array topology can be implemented to provide a technical solution to support high resolution and good SLL, for example, even with a relatively small number of elements, as described below.

[0258] In some demonstrative aspects, the hybrid topology with uniform, sparse arrays can be implemented to provide a technical solution for reducing the power consumption, cost and / or computing power of the radar, e.g. by using a reduced number of antenna elements.

[0259] reference to Fig. Figure 12, which schematically illustrates a device 1200 with an antenna array 1217 according to some demonstrative points.

[0260] From some demonstrative points of view, the antenna array 1217 can include a Tx antenna which can be configured to transmit RF Tx signals, e.g., as described below.

[0261] In one example, one or more Tx arrays can be 824 ( Fig. 8) include one or more elements of the antenna array 1217 and / or perform one or more operations and / or functions of the antenna array 1217.

[0262] In some demonstrative points of view, the antenna array 1217 can include an Rx antenna array which can be configured to receive RF Rx signals, e.g., as described below.

[0263] In one example, this could be one or more Rx arrays 826 ( Fig. 8) include one or more elements of the antenna array 1217 and / or perform one or more operations and / or functions of the antenna array 1217.

[0264] In some demonstrative points of view, the antenna array 1217 can include a variety of antenna elements 1215 which can be arranged according to an array arrangement, e.g. as described below.

[0265] In some demonstrative aspects, the array arrangement can be configured to provide a predefined array factor of 1230, e.g., as described below.

[0266] In some demonstrative points of view, the predefined array factor 1230 can include a main ray 1250 that can lie between a first angle 1231 and a second angle 1232, as described below.

[0267] In some demonstrative points of view, the predefined array factor 1230 can include a first sidelobe region (SL) 1241 that may lie between the first angle 1231 and a third angle 1233 that may be smaller than the first angle 1231, as described below, for example.

[0268] In some demonstrative points of view, the first SL area 1241 can include one or more first SL peaks 1251 that may follow a predefined array factor value 1255, e.g. as described below.

[0269] In some demonstrative points of view, the predefined array factor 1230 can include a second SL area 1242, which may be located between the second angle 1232 and a fourth angle 1234, which may be larger than the second angle 1232, as described below.

[0270] In some demonstrative points of view, the second SL area 1242 can include one or more second SL peaks 1252 that may lie downstream of the predefined array factor value 1255, as described below.

[0271] In some demonstrative points of view, the predefined array factor 1230 can include a third SL area 1243, which may lie between the third angle 1233 and a fifth angle 1235, which may be smaller than the third angle 1233, e.g., as described below.

[0272] In some demonstrative points of view, the third SL area 1243 can include one or more third SL peaks 1253 that may be above the predefined array factor value 1255, as described below.

[0273] In some demonstrative points of view, the predefined array factor 1230 can include a fourth SL area 1244, which may lie between the fourth angle 1234 and a sixth angle 1236, which may be larger than the fourth angle 1234, as described below.

[0274] In some demonstrative points of view, the fourth SL area 1244 can include one or more fourth SL peaks 1254 that may be above the predefined array factor value 1255, e.g. as described below.

[0275] In some demonstrative aspects, the system 1200 can include an interface 1210 which can be configured to transmit RF signals 1205 via the antenna array 1217, e.g. as described below.

[0276] In some demonstrative aspects, the 1210 interface can be one or more elements of the 804 RF front end ( Fig. 8) include and / or be configured to perform one or more functions of the 804 RF front end.

[0277] For example, interface 1210 can connect one or more elements of transmitter 883 ( Fig. 8) and / or the Tx chains 810 ( Fig. 8) include and / or be configured to perform one or more of its functions, for example, if the antenna array 1217 includes a Tx antenna.

[0278] For example, interface 1210 can connect to one or more elements of receiver 885 ( Fig. 8) and / or the Rx chains 812 ( Fig. 8) include and / or be configured to perform one or more functions of receiver 885 ( Fig. 8) and / or the Rx chains 812 ( Fig. 8) executes, for example, when the antenna array 1217 includes an Rx antenna array.

[0279] In some demonstrative points of view, the RF signals 1205 can include signals with a frequency above 70 GHz, e.g. as described below.

[0280] From other perspectives, the RF signals can include 1205 signals at any other frequency.

[0281] In some demonstrative points of view, the RF signals can include 1205 signals in a frequency bandwidth of 76-81 GHz, e.g. as described below.

[0282] From other perspectives, the RF signals can include 1205 signals in any other suitable frequency bandwidth.

[0283] In some demonstrative aspects, the device 1200 can be implemented as part of a radar device or radar system, for example as part of the radar device 800 ( Fig. 8), as described above.

[0284] In some demonstrative aspects, the device 1200 can be implemented as part of another suitable device and / or system.

[0285] For example, in some demonstrative aspects, the device 1200 may be implemented as part of a device, such as a mobile device, a computing device and / or a wireless communication device, for example for communicating wireless RF communication signals.

[0286] For example, in some demonstrative aspects, the device 1200 can be implemented in such a way that it transmits wireless RF communication signals via mmWave frequencies and / or other suitable frequencies.

[0287] In some demonstrative points of view, all SLs within the first SL range 1241 can be located following the predefined array factor value 1255, as described below.

[0288] In some demonstrative points of view, all SLs within the second SL range 1242 can be below the predefined array factor value 1255, as described below.

[0289] In some demonstrative points of view, all SLs within the first SL range 1241 and all SLs within the second SL range 1242 can be below the predefined array factor value 1255, as described below.

[0290] From other perspectives, the first SL area 1241 and / or the second SL area 1242 can include an SL peak that is equal to or greater than the predefined array factor value 1255.

[0291] In some demonstrative aspects, the main beam 1250 can have a 3 dB beamwidth of less than 10 degrees, as described below.

[0292] In some demonstrative points of view, the main beam 1250 can have a 3 dB beamwidth of less than 8 degrees, as described below.

[0293] In some demonstrative points of view, the main beam 1250 can have a 3 dB beamwidth of less than 7 degrees, as described below.

[0294] In some demonstrative aspects, the main beam 1250 can have a 3 dB beamwidth of less than 5 degrees, as described below.

[0295] In some demonstrative points of view, the main beam 1250 can have a 3 dB beamwidth of 4 degrees or less, as described below.

[0296] In other respects, the main beam 1250 can have any other 3 dB beam width.

[0297] In some demonstrative points of view, a difference between the fourth angle 1234 and the third angle 1233 may, for example, be based on a beamwidth of a single element beam of an antenna element of the plurality of antenna elements 1215, as described below.

[0298] In some demonstrative points of view, the difference between the fourth angle 1234 and the third angle 1233 may, for example, be essentially equal to or greater than the beamwidth of the single-element beam of the antenna element of the plurality of antenna elements 1215, as described below.

[0299] In some demonstrative points of view, the difference between the fourth angle 1234 and the third angle 1233 can be at least 50 degrees, e.g. as described below.

[0300] In some demonstrative points of view, the difference between the fourth angle 1234 and the third angle 1233 can be at least 60 degrees, e.g. as described below.

[0301] In some demonstrative points of view, the difference between the fourth angle 1234 and the third angle 1233 can be at least 70 degrees, as described below, for example.

[0302] From other perspectives, there can be any other suitable difference between the fourth angle 1234 and the third angle 1233.

[0303] In some demonstrative points of view, there can be a difference of at least 160 degrees between the sixth angle 1236 and the fifth angle 1235, as described below.

[0304] In some demonstrative points of view, there can be a difference of at least 170 degrees between the sixth angle 1236 and the fifth angle 1235, as described below.

[0305] From other perspectives, there can be any other suitable difference between the sixth angle 1236 and the fifth angle 1235.

[0306] In some demonstrative aspects, the predefined array factor value 1255 can, for example, be at least 8 dB below the peak 1258 of the main beam 1250, as described below.

[0307] In some demonstrative aspects, the predefined array factor value 1255 can, for example, be at least 10 dB below the peak 1258 of the main beam 1250, as described below.

[0308] From other perspectives, the array factor value 1255 can be configured to be at any other suitable distance from the tip 1258 of the main beam 1250.

[0309] In some demonstrative aspects, the predefined array factor value 1255 can be implemented as the first array factor value 1255, e.g., as described below.

[0310] In some demonstrative points of view, the third SL peaks 1253 and the fourth SL peaks can be above a second array factor value 1257, which can be larger than the first array factor value 1255, e.g. as described below.

[0311] In some demonstrative aspects, for example, there may be a difference of at least 3 dB between the second array factor value 1257 and the first array factor value 1255, as described below.

[0312] In some demonstrative aspects, for example, there may be a difference of at least 4 dB between the second array factor value 1257 and the first array factor value 1255, as described below.

[0313] From other perspectives, there can be any other suitable difference between the second array factor value 1257 and the first array factor value 1255.

[0314] In some demonstrative points of view, the multitude of antenna elements 1215 can include a first group of antenna elements 1212 and a second group of antenna elements 1214, e.g. as described below.

[0315] In some demonstrative points of view, the first group of antenna elements 1212 can be arranged according to a uniform arrangement, for example including a uniform distance between antenna elements of the first group of antenna elements 1212, e.g. as described below.

[0316] In some demonstrative aspects, the second group of antenna elements 1214 can be arranged according to a non-uniform arrangement, including a non-uniform spacing between antenna elements of the second group of antenna elements 1214, e.g. as described below.

[0317] In some demonstrative points of view, the second group of antenna elements 1214 can, for example, include at least 35 percent of the multitude of antenna elements 1215, as described below.

[0318] In some demonstrative points of view, the second group of antenna elements 1214 can, for example, include at least 40 percent of the multitude of antenna elements 1215, as described below.

[0319] In some demonstrative points of view, the second group of antenna elements 1214 can, for example, include at least 50 percent of the multitude of antenna elements 1215, as described below.

[0320] In some demonstrative points of view, the second group of antenna elements 1214 can, for example, include at least 60 percent of the multitude of antenna elements 1215, as described below.

[0321] In other respects, the second group of antenna elements 1214 can include any other percentage of the multitude of antenna elements 1215.

[0322] In other respects, the plurality of antenna elements 1215 can be arranged according to any other arrangement, including any other suitable group of antenna elements, e.g., uniformly spaced antenna elements and / or unevenly spaced antenna elements.

[0323] In some demonstrative points of view, the antenna array 1217 can be configured to have an array pattern 1270, as described below.

[0324] In some demonstrative points of view, the array pattern 1270 of the antenna array 1217 can include an antenna pattern main beam 1260, e.g. as described below.

[0325] In some demonstrative points of view, the array pattern 1270 of the antenna array 1217 can include a first antenna pattern SL 1261, which, for example, can be adjacent to a first side of the antenna pattern main beam 1260, as described below.

[0326] In some demonstrative points of view, the first antenna pattern SL 1261 may be located in the first SL area 1241, as described below.

[0327] In some demonstrative points of view, the array pattern 1270 of the antenna array 1217 can include a second antenna pattern SL 1262, which, for example, can be adjacent to a second side of the antenna pattern main beam 1260, as described below.

[0328] In some demonstrative points of view, the second antenna pattern SL 1262 can be located in the second SL area 1242, e.g. as described below.

[0329] In some demonstrative points of view, a peak 1265 of the first antenna pattern SL 1261 and a peak 1267 of the second antenna pattern SL 1262 may be higher than all other SLs in the antenna pattern 1270, e.g. as described below.

[0330] In some demonstrative points of view, for example, the peak 1265 of the first antenna pattern SL 1261 and the peak 1267 of the second antenna pattern SL 1262 can be at least 10 dB below a peak 1268 of the main beam 1260 of the antenna pattern, as described below.

[0331] In some demonstrative points of view, the peak 1265 of the first antenna pattern SL 1261 and the peak 1267 of the second antenna pattern SL 1262 can, for example, be at least 12 dB below the peak 1268 of the antenna pattern main beam 1260, as described, for example, below.

[0332] In some demonstrative points of view, for example, the peak 1265 of the first antenna pattern SL 1261 and the peak 1267 of the second antenna pattern SL 1262 can be at least 15 dB below the peak 1268 of the main beam 1260 of the antenna pattern, as described below.

[0333] From other perspectives, the array pattern 1270 can be configured with any other difference between peak 1268 and peaks 1265 and 1267.

[0334] reference to Fig. 13A, which schematically illustrates an antenna array topology 1310, on Fig. 13B, which schematically illustrates an array factor 1330 of the antenna array topology 1310, and on Fig. 13C, which schematically illustrates an array pattern 1370 of the antenna array topology 1310, according to some demonstrative points.

[0335] In some demonstrative aspects, such as in Fig. As shown in Figure 13A, the antenna array topology 1310 can be configured according to an antenna array topology with hybrid uniformly sparse elements.

[0336] In some demonstrative aspects, such as in Fig. As shown in Figure 13A, the antenna array topology 1310 can include a variety of antenna elements 1315.

[0337] In some demonstrative aspects, such as in Fig. As shown in Figure 13A, the plurality of antenna elements 1315 can include a first group of antenna elements 1312, which are marked with circles (o), and a second group of antenna elements 1314, which are marked with “x”.

[0338] In some demonstrative aspects, such as in Fig. As shown in Figure 13A, the first group of antenna elements 1312 can be arranged according to a uniform arrangement, for example including a uniform distance between the antenna elements 1312 of the first group of antenna elements 1312.

[0339] In some demonstrative aspects, as in Fig. Figure 13A shows that the second group of antenna elements 1314 is arranged according to a non-uniform arrangement which includes a non-uniform spacing between the antenna elements 1314 of the second group of antenna elements 1314.

[0340] In some demonstrative aspects, such as in Fig. As shown in Figure 13A, the second group of antenna elements 1314 can include 50 percent of the multitude of antenna elements 1315, e.g. four antenna elements 1314 out of a total of eight antenna elements 1315.

[0341] For example, as in Fig. As shown in Figure 13A, the hybrid uniformly sparse array is configured to include a large number of uniformly spaced elements, e.g., the first group of antenna elements 1312.

[0342] For example, as in Fig. Figure 13A shows that the hybrid uniformly sparse array includes four uniformly spaced elements 1312, e.g., four antenna elements 1312 out of a total of eight antenna elements 1315.

[0343] For example, as in Fig. As shown in Figure 13A, the hybrid uniformly sparse array can be configured to include a variety of non-uniformly spaced elements, e.g., the second group of antenna elements 1314.

[0344] For example, the hybrid uniformly sparse array, as in Fig. Figure 13A shows four unevenly spaced elements 1314, e.g. four antenna elements 1314 from a total of eight antenna elements 1315, which may not be evenly spaced.

[0345] In some demonstrative points of view, any other number of antenna elements 1315 and / or any other type of subdivision between the unevenly spaced elements 1314 and the evenly spaced elements 1312 may also be possible.

[0346] In some demonstrative points of view, the array factor 1330 can represent a normalized array pattern, e.g., without taking into account the contribution of a single element of the antenna array topology 1310.

[0347] In some demonstrative aspects, such as in Fig. As shown in 13B, the array factor 1330 can enclose a main ray 1350 which can lie between an angle of about -5° and an angle of about 5°.

[0348] In some demonstrative aspects, such as in Fig. As shown in 13B, the array factor 1330 can enclose a first SL area 1341, which can lie between an angle of about -5° and an angle of about -30°.

[0349] In some demonstrative aspects, such as in Fig. As shown in Figure 13B, the first SL area 1341 can include one or more first SL peaks 1351 that may be below a predefined array factor value 1355.

[0350] In some demonstrative points of view, the array factor 1330 can include a second SL area 1342, which can lie between an angle of about 5° and an angle of about 30°.

[0351] In some demonstrative aspects, such as in Fig. As shown in 13B, the second SL area 1342 can include one or more second SL peaks 1352 that may be below a predefined array factor value 1355.

[0352] In some demonstrative aspects, such as in Fig. As shown in 13B, the array factor 1330 can include a third SL area 1343, which can lie between an angle of about -30° and an angle of about -90°.

[0353] In some demonstrative aspects, such as in Fig. As shown in 13B, the third SL area 1343 can include one or more third SL peaks 1353 that can be above the predefined array factor value 1355.

[0354] In some demonstrative aspects, such as in Fig. As shown in 13B, the predefined array factor 1330 can include a fourth SL area 1344, which can lie between an angle of about 30° and an angle of about 90°.

[0355] In some demonstrative aspects, such as in Fig. As shown in 13B, the fourth SL area 1344 can include one or more fourth SL peaks 1354 that may be above the predefined array factor value 1355.

[0356] In some demonstrative aspects, such as in Fig. As shown in 13B, all SLs within the first SL range 1341 and all SLs within the second SL range 1342 can be below the predefined array factor value 1355.

[0357] In some demonstrative aspects, such as in Fig. As shown in Figure 13B, the main beam 1350 can have a 3-dB beamwidth of about 4 degrees, which can be an excellent 3-dB beamwidth.

[0358] In some demonstrative aspects, such as in Fig. As shown in 13B, the predefined array factor value 1355 can, for example, be at least 10 dB below a peak 1358 of the main beam 1350.

[0359] In some demonstrative aspects, such as in Fig. As shown in 13B, the third SL peaks can be 1353 and the fourth SL peaks can be above an array factor value of 1357, which can be greater than the array factor value of 1355.

[0360] In some demonstrative aspects, such as in Fig. As shown in 13B, for example, there can be a difference of at least 3 dB between the array factor value 1357 and the array factor value 1355.

[0361] In some demonstrative aspects, such as in Fig. As shown in 13B, SLLs of the array factor 1330 can be optimized, e.g. only within a field of view in an angle range between ±30°, and a masked SLL behavior, e.g. a step at the angles ±30°, can be generated.

[0362] In some demonstrative points of view, the array pattern 1370 can represent a normalized array pattern with a contribution from the single element of the antenna array topology 1310.

[0363] In some demonstrative points of view, the array pattern 1370 can represent a complete and accurate array pattern response of the antenna array topology 1310, for example taking into account single element suppression.

[0364] In some demonstrative aspects, such as in Fig. As shown in Figure 13C, the array pattern 1370 of the antenna array topology 1310 can include an antenna pattern main beam 1360.

[0365] In some demonstrative aspects, such as in Fig. As shown in Figure 13C, the array pattern 1370 of the antenna array topology 1310 can include a first antenna pattern SL 1361 that can be adjacent to a first side of the antenna pattern main beam 1360.

[0366] In some demonstrative aspects, such as in Fig. As shown in 13C, the first antenna pattern SL 1361 can be located in the first SL area 1341.

[0367] In some demonstrative aspects, such as in Fig. As shown in Figure 13C, the array pattern 1370 of the antenna array topology 1310 can include a second antenna pattern SL 1362, which can be adjacent to a second side of the antenna pattern main beam 1360.

[0368] In some demonstrative aspects, such as in Fig. As shown in 13C, the second antenna pattern SL 1362 can be located in the second SL area 1342.

[0369] In some demonstrative aspects, such as in Fig. As shown in Figure 13C, a peak 1365 of the first antenna pattern SL 1361 and a peak 1367 of the second antenna pattern SL 1362 can be higher than all other SLs in antenna pattern 1370.

[0370] In some demonstrative aspects, such as in Fig. As shown in 13C, peaks 1365 and 1367, for example, can be at least 13 dB below a peak 1368 of the main beam 1360 of the antenna pattern.

[0371] In some demonstrative aspects, such as in Fig. As shown in Figure 13C, SLLs of array pattern 1370 outside a field of view of ±30°, e.g., the actual SLLs of array pattern 1370, may be below -30 dB. These relatively low SLL levels can, for example, be observed despite the relatively poor SLLs of array factor 1330 ( Fig. 13B) outside the field of view of ±30°, which protrude by more than -11 dB.

[0372] In some demonstrative aspects, such as in Fig. As shown in 13C, SLLs of array pattern 1370 achieve 14 dB in the field of view of ±30°, which may be better than the SLLs in the field of view of ±30° of array pattern 1140 ( Fig. 11C) of the non-uniform array topology 1110 ( Fig. 11A).

[0373] In some demonstrative points of view, this improvement of the SLLs of the array pattern 1370 in the field of view of ±30°, e.g. compared to the SLLs of the array pattern 1140 ( Fig. 11C) in the field of view of ±30° can be achieved, for example, by inserting a masked SLL constraint into an optimization, so that, for example, a best SLL value can only be sought within the relevant field of view, e.g., in the field of view of ±30°.

[0374] In some demonstrative aspects, this improved SLL can be achieved in the field of view of ±30°, as, for example, fewer angles need to be checked.

[0375] In some demonstrative aspects, for example outside the field of view of ±30°, the individual element can attenuate the signal, so that, for example, a relatively good SLL is ensured even if this area is not included in the optimization.

[0376] In some demonstrative aspects, an additional improvement of the SLL can be achieved, for example by using a unique ML processing that can utilize the uniform part of the 1310 antenna array.

[0377] It will be on Fig. Reference is made to Figure 14, which schematically illustrates a MIMO antenna array topology 1400 according to some demonstrative points. For example, the MIMO radar antenna 881 ( Fig. 8) include one or more elements of the MIMO antenna array topology 1400.

[0378] In some demonstrative aspects, such as in Fig. As shown in Figure 14, the MIMO antenna array topology 1400 can include an Rx array 1416 that comprises a variety of Rx antennas.

[0379] In some demonstrative aspects, such as in Fig. As shown in Figure 14, the MIMO antenna array topology 1400 can include a multitude of Tx antennas 1414. For example, the multitude of antenna elements 1215 ( Fig. 12) include one or more elements of the multitude of Tx antennas 1414.

[0380] In some demonstrative aspects, such as in Fig. As shown in Figure 14, the MIMO antenna array topology 1400 can include a first Tx subarray 1415 with a plurality of first Tx antennas 1414.

[0381] In some demonstrative aspects, such as in Fig. As shown in Figure 14, the MIMO antenna 1400 can include a second Tx subarray 1417 with a plurality of second Tx antennas 1414.

[0382] In some demonstrative points of view, an array topology of the multitude of Tx antennas 1414 can serve as a Tx array and be combined with a series Rx array, e.g. the Rx array 1416, so that a complete 2D radar array can be formed.

[0383] In some demonstrative aspects, such as in Fig. As shown in Figure 14, the Tx antennas 1414 of the first Tx subarray 1415 and / or the second Tx subarray 1417 can, for example, be arranged offset so that more space can be allocated to each Tx element 1414.

[0384] For example, the staggered arrangement of the Tx antennas 1414 of the first Tx subarray 1415 and / or the second Tx subarray 1417 can be configured to provide a technical solution to allocate more space to each Tx antenna element 1414, thereby improving, for example, the antenna gain of the MIMO antenna array topology 1400 to improve the link budget.

[0385] In some demonstrative aspects, as in Fig. Figure 14 shows a row-column structure of a MIMO antenna array topology 1400 with two Tx columns, e.g. the first Tx subarray 1415 and the second Tx subarray 1417, and a single Rx row, e.g. Rx array 1416, which, for example, includes a uniform array spaced half a wavelength apart.

[0386] In some demonstrative aspects, the row-column structure of the MIMO antenna array topology 1400 can be configured to provide a technical solution for reducing false alarms (FA), for example, also when operating in multipath environments.

[0387] In some demonstrative aspects, additional multi-path advantages can be achieved, for example by choosing a distance between the two Tx columns that is smaller than the length of the Rx series.

[0388] In this way, for example, virtual arrays formed by the first Tx subarray 1415 and the second Tx subarray 1417 can be overlapped. For instance, a first virtual array, which can be formed based on a combination of Tx antennas from the first Tx subarray 1415 with Rx antennas from the Rx array 1416, can overlap with a second virtual array, which can be formed based on a combination of Tx antennas from the second Tx subarray 1417 with Rx antennas from the Rx array 1416. Accordingly, phase averaging can be performed along overlapping areas of the virtual arrays to further reduce the FA, for example, in a multipath environment.

[0389] In some demonstrative points of view, the MIMO antenna array topology 1400 can be implemented to provide a technical solution to support improved SLL along an azimuth dimension, for example by implementing the Rx array 1416 as an evenly spaced array.

[0390] In some demonstrative aspects, the MIMO antenna array topology 1400 can be implemented to provide a technical solution to support immunity to FA, e.g., in a multipath environment, for example, by implementing the RX array as an evenly spaced array to avoid ambiguities, and by implementing the row-column structure of the MIMO antenna array topology 1400, for example, together with overlap and phase averaging in the virtual array.

[0391] In some demonstrative aspects, the MIMO antenna array topology 1400 can be implemented to provide a technical solution to support an improved link budget, for example by using the offset in the Tx subarrays 1415 and 1417, which can support an increased element size and thus an increased gain.

[0392] In some demonstrative aspects, the MIMO antenna array topology 1400 can be implemented to provide a technical solution to support good resolution and / or SLL along an elevation dimension, for example using a concept of a hybrid uniformly sparse Tx array with masked SLL, as described above.

[0393] It will be on Fig. Reference is made to Figure 15, which schematically illustrates a product of manufacture 1500 according to some exemplary aspects. The product 1500 may comprise one or more physical, computer-readable (“machine-readable”) non-transitory storage media 1502, which may include computer-executable instructions, implemented, for example, by logic 1504, and which, when executed by at least one computer processor, enable the at least one computer processor to execute one or more of the instructions referred to in reference to one of the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13 to Fig.14 operations and / or functionalities described herein and / or to perform one or more of the operations described herein. The terms “non-transient machine-readable medium” and “computer-readable non-transient storage medium” may be understood to include all machine- and / or computer-readable media, with the sole exception of a transitory transmission signal.

[0394] In some demonstrative points of view, the product 1500 and / or the machine-readable storage medium 1502 may include one or more types of computer-readable storage media capable of storing data, including volatile memory, non-volatile memory, removable or non-removable memory, erasable or non-erasable memory, writable or rewritable memory and the like. For example, machine-readable storage media can include 1402 RAM, DRAM, Double Data Rate DRAM (DDR-DRAM), SDRAM, Static RAM (SRAM), ROM, Programmable ROM (PROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), Flash memory (e.g., NOR or NAND flash memory), Content Addressable Memory (CAM), Polymer memory, Phase Change memory, Ferroelectric memory, Silicon Oxide Nitride Oxide Silicon memory (SONOS), a disk, a hard disk, and the like.The computer-readable storage medium may include any suitable medium involved in downloading or transmitting a computer program from a remote computer to a requesting computer, transmitted by data signals embodied in a carrier wave or other propagation medium over a communication link, e.g., a modem, radio or network connection.

[0395] In some demonstrative points of view, logic 1504 can include instructions, data, and / or code which, when executed by a machine, can cause the machine to perform a procedure, process, and / or operations as described herein. The machine can, for example, include any suitable processing platform, computer platform, computer application, processing application, computing system, processing system, computer, processor, or the like, and can be implemented using any suitable combination of hardware, software, firmware, and the like.

[0396] In some demonstrative points of view, logic 1504 can include or be implemented as software, a software module, an application, a program, a subroutine, instructions, a set of instructions, computational code, words, values, symbols, and the like. The instructions can include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, and the like. The instructions can be implemented according to a predefined computer language, style, or syntax to instruct a processor to perform a specific function. The implementation of the instructions can be done using any suitable high-level, low-level, object-oriented, visual, compiled, and / or interpreted programming language, machine code, and the like. EXAMPLES

[0397] The following examples relate to further aspects.

[0398] Example 1 includes a device comprising an antenna array, which includes a plurality of antenna elements arranged in an array configuration such that it provides a predefined array factor with a main beam between a first angle and a second angle; a first sidelobe (SL) region between the first angle and a third angle smaller than the first angle, wherein the first SL region includes one or more first SL peaks below a predefined array factor value; and a second SL region between the second angle and a fourth angle larger than the second angle, wherein the second SL region includes one or more second SL peaks below the predefined array factor value.a third SL region between the third angle and a fifth angle smaller than the third angle, wherein the third SL region includes one or more third SL peaks above the predefined array factor value; and a fourth SL region between the fourth angle and a sixth angle larger than the fourth angle, wherein the fourth SL region includes one or more fourth SL peaks above the predefined array factor value; and an interface for transmitting radio frequency (RF) signals across the antenna array.

[0399] Example 2 includes the subject matter of Example 1 and optionally, wherein the plurality of antenna elements comprises a first group of antenna elements arranged according to a uniform arrangement comprising a uniform spacing between antenna elements of the first group of antenna elements; and a second group of antenna elements arranged according to a non-uniform arrangement comprising a non-uniform spacing between antenna elements of the second group of antenna elements.

[0400] Example 3 includes the subject of Example 2 and optionally, wherein the second group of antenna elements comprises at least 35 percent of the plurality of antenna elements.

[0401] Example 4 includes the subject of Example 2 and optionally, wherein the second group of antenna elements comprises at least 40 percent of the plurality of antenna elements.

[0402] Example 5 includes the subject of Example 2 and optionally, wherein the second group of antenna elements comprises at least 50 percent of the plurality of antenna elements.

[0403] Example 6 includes the subject of any of Examples 1 to 5, optionally comprising an array pattern of the antenna array comprising: an antenna pattern main beam; a first antenna pattern SL adjacent to a first side of the antenna pattern main beam, the first antenna pattern SL being in the first SL region; and a second antenna pattern SL adjacent to a second side of the antenna pattern main beam, the second antenna pattern SL being in the second SL region, the peaks of the first antenna pattern SL and the second antenna pattern SL being higher than any other SLs in the antenna pattern.

[0404] Example 7 includes the subject of Example 6 and optionally, wherein the peaks of the first antenna pattern SL and the second antenna pattern SL are at least 10 decibels (dB) below a peak of the main beam of the antenna pattern.

[0405] Example 8 includes the subject of Example 6 and optionally, wherein the peaks of the first antenna pattern SL and the second antenna pattern SL are at least 12 decibels (dB) below a peak of the main beam of the antenna pattern.

[0406] Example 9 includes the subject of Example 6 and optionally, wherein the peaks of the first antenna pattern SL and the second antenna pattern SL are at least 15 decibels (dB) below a peak of the main beam of the antenna pattern.

[0407] Example 10 includes the subject of any one of Examples 1 to 9 and optionally, wherein the difference between the fourth angle and the third angle is at least 50 degrees.

[0408] Example 11 includes the subject of any one of Examples 1 to 10, optionally with the difference between the fourth angle and the third angle being at least 60 degrees.

[0409] Example 12 includes the subject of any one of Examples 1 to 11, optionally with a difference of at least 70 degrees between the fourth angle and the third angle.

[0410] Example 13 includes the subject of any one of Examples 1 to 12 and optionally, wherein a difference between the fourth angle and the third angle is based on a beamwidth of a single-element beam of an antenna element of the plurality of antenna elements.

[0411] Example 14 includes the subject of any one of Examples 1 to 13, wherein optionally the difference between the fourth angle and the third angle is substantially equal to or greater than the beamwidth of a single-element beam of an antenna element of the plurality of antenna elements.

[0412] Example 15 includes the subject of any of Examples 1 to 14, optionally with the predefined array factor value being at least 8 decibels (dB) below a peak of the main beam.

[0413] Example 16 includes the subject of any one of Examples 1 to 15 and optionally, where the predefined array factor value is at least 10 decibels (dB) below a peak of the main beam.

[0414] Example 17 includes the subject of any one of Examples 1 to 16 and optionally, wherein the predefined array factor value includes a first array factor value, with the third SL peaks and the fourth SL peaks above a second array factor value that is above the first array factor value.

[0415] Example 18 includes the subject of Example 17 and optionally, where the difference between the second array factor value and the first array factor value is at least 3 decibels (dB).

[0416] Example 19 includes the subject of Example 17 and optionally, where the difference between the second array factor value and the first array factor value is at least 4 decibels (dB).

[0417] Example 20 includes the subject of any one of Examples 1 to 19, optionally including all SLs within the first SL range and all SLs within the second SL range below the predefined array factor value.

[0418] Example 21 includes the subject of any one of Examples 1 to 20 and optionally, wherein the main beam has a 3-decibel (dB) beam width of less than 10 degrees.

[0419] Example 22 includes the subject of any one of Examples 1 to 21 and optionally, wherein the main beam has a 3-decibel (dB) beam width of less than 7 degrees.

[0420] Example 23 includes the subject of any one of Examples 1 to 22 and optionally, wherein the main beam has a 3-decibel (dB) beam width of less than 5 degrees.

[0421] Example 24 includes the subject of any one of Examples 1 to 23 and optionally the principal beam having a 3-decibel (dB) beam width of 4 degrees or less.

[0422] Example 25 includes the subject of any one of Examples 1 to 24 and optionally, wherein the difference between the sixth angle and the fifth angle is at least 160 degrees.

[0423] Example 26 includes the subject of any one of Examples 1 to 25 and optionally, wherein the difference between the sixth angle and the fifth angle is at least 170 degrees.

[0424] Example 27 includes the subject of any one of Examples 1 to 26 and optionally includes RF signals with a frequency above 70 gigahertz (GHz).

[0425] Example 28 includes the subject of any one of Examples 1 to 27 and optionally, wherein the RF signals comprise signals in a frequency bandwidth of 76 to 81 gigahertz (GHz).

[0426] Example 29 includes the subject of any one of Examples 1 to 28 and optionally, wherein the antenna array includes a transmit antenna array (Tx antenna array) for transmitting RF Tx signals.

[0427] Example 30 includes the subject of Example 29 and optionally a receiving antenna array (Rx antenna array) for receiving RF receive signals based on the RF transmit signals.

[0428] Example 31 includes the subject of any one of Examples 1 to 28, optionally including in the antenna array a receiving antenna array (Rx antenna array) for receiving RF Rx signals.

[0429] Example 32 includes the subject matter of Example 31 and optionally includes a transmit antenna array (Tx antenna array) for transmitting RF Tx signals, wherein the RF Rx signals are based on the RF Tx signals.

[0430] Example 33 includes the subject of any one of Examples 1 to 32 and optionally includes a processor for processing information corresponding to the RF signals.

[0431] Example 34 includes the subject of any one of Examples 1 to 33 and optionally includes a processor for generating radar information based on the RF signals.

[0432] Example 35 includes the subject matter of Example 34 and optionally a vehicle, wherein the vehicle comprises the radar device and a control system to control one or more of the vehicle's systems based on the radar information.

[0433] Example 36 includes an antenna array according to one of Examples 1 to 35.

[0434] Example 37 includes a device comprising an antenna array and a communication interface for transmitting signals via the antenna array according to any one of Examples 1 to 35.

[0435] Example 38 includes a radar device comprising an antenna array according to any one of Examples 1 to 35.

[0436] Example 39 includes a vehicle that incorporates an antenna array according to one of Examples 1 to 35.

[0437] Example 40 includes a device comprising means for performing one of the operations described in any of Examples 1 to 35.

[0438] Example 41 includes a machine-readable medium that stores instructions for execution by a processor to perform any of the operations described in Examples 1 to 35.

[0439] Example 42 comprises a product comprising one or more tangible, computer-readable, non-transitory storage media comprising computer-executable instructions which, when executed by at least one processor, enable that at least one processor to cause a device to perform one of the operations described in any of Examples 1 to 35.

[0440] Example 43 includes a device that comprises a memory; and a processing switching logic configured to perform one of the operations described in any of Examples 1 to 35.

[0441] Example 44 includes a procedure that incorporates any one of the processes described in Examples 1 to 35.

[0442] Functions, processes, components and / or characteristics described here with reference to one or more aspects can be combined with or used in combination with one or more other functions, processes, components and / or characteristics described here with reference to one or more other aspects, or vice versa.

[0443] While certain features have been illustrated and described here, a person skilled in the art may conceive of many modifications, substitutions, alterations, and equivalents. It is therefore self-evident that the attached claims are intended to cover all modifications and alterations that correspond to the true spirit of the disclosure. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 63 / 494.241

[0001] US 63 / 556,787

[0001]

Claims

Device comprising: an antenna array comprising a plurality of antenna elements arranged according to an array configuration configured to provide a predefined array factor, comprising: a main beam between a first angle and a second angle; a first sidelobe (SL) region between the first angle and a third angle smaller than the first angle, wherein the first SL region includes one or more first SL peaks below a predefined array factor value; a second SL region between the second angle and a fourth angle larger than the second angle, wherein the second SL region includes one or more second SL peaks below the predefined array factor value;a third SL region between the third angle and a fifth angle smaller than the third angle, wherein the third SL region includes one or more third SL peaks above the predefined array factor value; and a fourth SL region between the fourth angle and a sixth angle larger than the fourth angle, wherein the fourth SL region includes one or more fourth SL peaks above the predefined array factor value; and an interface for transmitting radio frequency (RF) signals across the antenna array. Device according to claim 1, wherein the plurality of antenna elements comprises: a first group of antenna elements arranged according to a uniform arrangement which includes a uniform distance between the antenna elements of the first group of antenna elements; and a second group of antenna elements arranged according to a non-uniform arrangement which includes a non-uniform distance between the antenna elements of the second group of antenna elements. Device according to claim 2, wherein the second group of antenna elements comprises at least 35 percent of the plurality of antenna elements. Device according to claim 2, wherein the second group of antenna elements comprises at least 40 percent of the plurality of antenna elements. Device according to claim 2, wherein the second group of antenna elements comprises at least 50 percent of the plurality of antenna elements. Device according to claim 1, wherein an array pattern of the antenna array comprising: a main beam of the antenna pattern; a first antenna pattern SL adjacent to a first side of the main beam of the antenna pattern, wherein the first antenna pattern SL is located in the first SL region; and a second antenna pattern SL adjacent to a second side of the main beam of the antenna pattern, wherein the second antenna pattern SL is located in the second SL region, the tips of the first antenna pattern SL and the second antenna pattern SL being higher than all other SLs in the antenna pattern. Device according to claim 6, wherein the tips of the first antenna pattern SL and the second antenna pattern SL are located at least 10 decibels (dB) below a tip of the main beam of the antenna pattern. Device according to claim 6, wherein the tips of the first antenna pattern SL and the second antenna pattern SL are located at least 12 decibels (dB) below a tip of the main beam of the antenna pattern. Device according to claim 6, wherein the tips of the first antenna pattern SL and the second antenna pattern SL are located at least 15 decibels (dB) below a tip of the main beam of the antenna pattern. Device according to claim 1, wherein the difference between the fourth angle and the third angle is at least 50 degrees. Device according to claim 1, wherein the difference between the fourth angle and the third angle is at least 60 degrees. Device according to claim 1, wherein the difference between the fourth angle and the third angle is at least 70 degrees. Device according to claim 1, wherein a difference between the fourth angle and the third angle is based on a beam width of a single-element beam of an antenna element of the plurality of antenna elements. Device according to claim 1, wherein a difference between the fourth angle and the third angle is substantially equal to or greater than a beamwidth of a single-element beam of an antenna element of the plurality of antenna elements. Device according to any one of claims 1 to 14, wherein the predefined array factor value is at least 8 decibels (dB) below a peak of the main beam. Device according to any one of claims 1 to 14, wherein the predefined array factor value is at least 10 decibels (dB) below a peak of the main beam. Device according to any one of claims 1 to 14, wherein the predefined array factor value comprises a first array factor value, wherein the third SL peaks and the fourth SL peaks are above a second array factor value, which is superior to the first array factor value. Device according to claim 17, wherein the difference between the second array factor value and the first array factor value is at least 3 decibels (dB). Device according to claim 17, wherein the difference between the second array factor value and the first array factor value is at least 4 decibels (dB). Device according to one of claims 1 to 14, wherein all SLs within the first SL range and all SLs within the second SL range are below the predefined array factor value. Device according to any one of claims 1 to 14, wherein the main beam has a 3-decibel (dB) beam width of less than 10 degrees. Device according to any one of claims 1 to 14, wherein the main beam has a 3-decibel (dB) beam width of less than 7 degrees. Device according to any one of claims 1 to 14, wherein the main beam has a 3-decibel (dB) beam width of less than 5 degrees. Device according to any one of claims 1 to 14, wherein the main beam has a 3-decibel (dB) beam width of 4 degrees or less. Device according to any one of claims 1 to 14, wherein the difference between the sixth angle and the fifth angle is at least 160 degrees. Device according to any one of claims 1 to 14, wherein the difference between the sixth angle and the fifth angle is at least 170 degrees. Device according to any one of claims 1 to 14, wherein the RF signals comprise signals with a frequency of over 70 gigahertz (GHz). Device according to any one of claims 1 to 14, wherein the RF signals comprise signals in a frequency bandwidth of 76 to 81 gigahertz (GHz). Device according to any one of claims 1 to 14, wherein the antenna array comprises a transmit antenna array (Tx antenna array) for transmitting RF Tx signals. Device according to claim 29, comprising a receiving antenna array (Rx antenna array) for receiving RF-Rx signals based on the RF-Tx signals. Device according to any one of claims 1 to 14, wherein the antenna array comprises a receiving antenna array (Rx antenna array) for receiving RF Rx signals. Device according to claim 31, comprising a transmit antenna array (Tx antenna array) for transmitting RF-Tx signals, wherein the RF-Rx signals are based on the RF-Tx signals. Device according to any one of claims 1 to 14, comprising a processor for processing information corresponding to the RF signals. Radar device comprising: an antenna array comprising a plurality of antenna elements arranged in an array configuration configured to provide a predefined array factor, comprising: a main beam between a first angle and a second angle; a first sidelobe (SL) region between the first angle and a third angle smaller than the first angle, wherein the first SL region includes one or more first SL peaks below a predefined array factor value; a second SL region between the second angle and a fourth angle larger than the second angle, wherein the second SL region includes one or more second SL peaks below the predefined array factor value;a third SL range between the third angle and a fifth angle smaller than the third angle, wherein the third SL range includes one or more third SL peaks above the predefined array factor value; and a fourth SL range between the fourth angle and a sixth angle larger than the fourth angle, wherein the fourth SL range includes one or more fourth SL peaks above the predefined array factor value; an interface for transmitting radio frequency (RF) signals across the antenna array; and a processor for generating radar information based on the RF signals. Radar device according to claim 34, wherein the plurality of antenna elements comprises: a first group of antenna elements arranged according to a uniform arrangement which includes a uniform distance between the antenna elements of the first group of antenna elements; and a second group of antenna elements arranged according to a non-uniform arrangement which includes a non-uniform distance between the antenna elements of the second group of antenna elements.

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