Radar apparatus, system, and method

Abstract

For example, a radar controller may generate control signals to control transmission of radar Transmit (Tx) signals via a Tx antenna array according to a Beamforming (BF) transmission scheme, the BF transmission scheme including a sequence of transmission intervals, a transmission interval including at least one beam transmission via one or more Tx antenna sub-arrays of the Tx antenna array. For example, a Tx antenna sub-array of the one or more Tx antenna sub-arrays includes a plurality of Tx antennas along a predefined Tx sub-array direction. For example, the sequence of transmission intervals corresponds to a respective sequence of Tx angles along the predefined Tx sub-array direction. For example, a beam transmission in a transmission interval corresponding to a Tx angle includes one or more BF transmissions from the one or more Tx antenna sub-arrays, the one or more BF transmissions beamformed based on the Tx angle.

Description

MBE-P-02777-PC RADAR APPARATUS, SYSTEM, AND METHOD CROSS REFERENCE

[0001] This application claims the benefit of, and priority from, US Provisional Patent Application No. 63 / 494,234 entitled “RADAR APPARATUS, SYSTEM, AND METHOD”, filed April 5, 2023, and US Provisional Patent Application No.63 / 556,779 entitled “RADAR APPARATUS, SYSTEM, AND METHOD”, filed February 22, 2024, the entire disclosures of which are incorporated herein by reference. BACKGROUND

[0002] Various types of devices and systems, for example, autonomous and / or robotic devices, e.g., autonomous vehicles and robots, may be configured to perceive and navigate through their environment using sensor data of one or more sensor types.

[0003] Conventionally, autonomous perception relies heavily on light-based sensors, such as image sensors, e.g., cameras, and / or Light Detection and Ranging (LiDAR) sensors. Such light-based sensors may perform poorly under certain conditions, such as, conditions of poor visibility, or in certain inclement weather conditions, e.g., rain, snow, hail, or other forms of precipitation, thereby limiting their usefulness or reliability.MBE-P-02777-PC BRIEF DESCRIPTION OF THE DRAWINGS

[0004] For simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity of presentation. Furthermore, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. The figures are listed below.

[0005] Fig. 1 is a schematic block diagram illustration of a vehicle implementing a radar, in accordance with some demonstrative aspects.

[0006] Fig. 2 is a schematic block diagram illustration of a robot implementing a radar, in accordance with some demonstrative aspects.

[0007] Fig. 3 is a schematic block diagram illustration of a radar apparatus, in accordance with some demonstrative aspects.

[0008] Fig. 4 is a schematic block diagram illustration of a Frequency-Modulated Continuous Wave (FMCW) radar apparatus, in accordance with some demonstrative aspects.

[0009] Fig. 5 is a schematic illustration of an extraction scheme, which may be implemented to extract range and speed (Doppler) estimations from digital reception radar data values, in accordance with some demonstrative aspects.

[0010] Fig. 6 is a schematic illustration of an angle-determination scheme, which may be implemented to determine Angle of Arrival (AoA) information based on an incoming radio signal received by a receive antenna array, in accordance with some demonstrative aspects.

[0011] Fig. 7 is a schematic illustration of a Multiple-Input-Multiple-Output (MIMO) radar antenna scheme, which may be implemented based on a combination of Transmit (Tx) and Receive (Rx) antennas, in accordance with some demonstrative aspects.

[0012] Fig. 8 is a schematic block diagram illustration of elements of a radar device including a radar frontend and a radar processor, in accordance with some demonstrative aspects.MBE-P-02777-PC

[0013] Fig. 9 is a schematic illustration of a radar system including a plurality of radar devices implemented in a vehicle, in accordance with some demonstrative aspects.

[0014] Fig. 10 is a schematic illustration of signals of a 2x4 MIMO antenna array, which may be implemented in accordance with some demonstrative aspects.

[0015] Fig. 11 is a schematic illustration of an antenna array and an overlapped virtual antenna array based on the antenna array, which may be implemented in accordance with some demonstrative aspects.

[0016] Fig. 12A is a schematic illustration of a Time Division multiplexing (TDM) Linear Frequency Modulated (LFM) (TDM-LFM) waveform, and Fig. 12B is a schematic illustration of a Frequency Division Multiplexing (FDM) LFM (FDM- LFM) waveform, which may be implemented in accordance with some demonstrative aspects.

[0017] Fig. 13 is a schematic illustration of a system, in accordance with some demonstrative aspects.

[0018] Fig. 14 is a schematic illustration of a plurality of beam transmissions, in accordance with some demonstrative aspects.

[0019] Fig. 15 is a schematic illustration of a transmission interval, in accordance with some demonstrative aspects.

[0020] Fig.16 is a schematic illustration of a Tx coding scheme, in accordance with some demonstrative aspects.

[0021] Fig. 17 is a schematic illustration of a beamforming pattern, in accordance with some demonstrative aspects.

[0022] Fig. 18 is a schematic illustration of a frame structure according to a beamforming (BF) transmission scheme, in accordance with some demonstrative aspects.

[0023] Fig. 19 is a schematic illustration of simulation results showing a phantom target, in accordance with some demonstrative aspects.

[0024] Fig. 20 is a schematic illustration of simulation results showing a window effect, in accordance with some demonstrative aspects.MBE-P-02777-PC

[0025] Fig. 21 is a schematic illustration of a graph depicting a plurality of phase offset values corresponding to a plurality of Tx antennas, in accordance with some demonstrative aspects.

[0026] Fig. 22 is a schematic flow-chart illustration of a method of radar transmission according to a beamforming Tx scheme, in accordance with some demonstrative aspects.

[0027] Fig.23 is a schematic illustration of a product of manufacture, in accordance with some demonstrative aspects.MBE-P-02777-PC DETAILED DESCRIPTION

[0028] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of some aspects. However, it will be understood by persons of ordinary skill in the art that some aspects may be practiced without these specific details. In other instances, well-known methods, procedures, components, units and / or circuits have not been described in detail so as not to obscure the discussion.

[0029] Discussions herein utilizing terms such as, for example, “processing”, “computing”, “calculating”, “determining”, “establishing”, “analyzing”, “checking”, or the like, may refer to operation(s) and / or process(es) of a computer, a computing platform, a computing system, or other electronic computing device, that manipulate and / or transform data represented as physical (e.g., electronic) quantities within the computer’s registers and / or memories into other data similarly represented as physical quantities within the computer’s registers and / or memories or other information storage medium that may store instructions to perform operations and / or processes.

[0030] The terms “plurality” and “a plurality”, as used herein, include, for example, “multiple” or “two or more”. For example, “a plurality of items” includes two or more items.

[0031] The words "exemplary" and “demonstrative” are used herein to mean "serving as an example, instance, demonstration, or illustration". Any aspect, or design described herein as "exemplary" or “demonstrative” is not necessarily to be construed as preferred or advantageous over other aspects, or designs.

[0032] References to “one aspect”, “an aspect”, “demonstrative aspect”, “various aspects” etc., indicate that the aspect(s) so described may include a particular feature, structure, or characteristic, but not every aspect necessarily includes the particular feature, structure, or characteristic. Further, repeated use of the phrase “in one aspect” does not necessarily refer to the same aspect, although it may.

[0033] As used herein, unless otherwise specified the use of the ordinal adjectives “first”, “second”, “third” etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to implyMBE-P-02777-PC that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.

[0034] The phrases “at least one” and “one or more” may 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" with regard to a group of elements may be used herein to mean at least one element from the group consisting of the elements. For example, the phrase "at least one of" with regard to a group of elements may be used herein to mean one of the listed elements, a plurality of one of the listed elements, a plurality of individual listed elements, or a plurality of a multiple of individual listed elements.

[0035] 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, a portion of a file, a set of files, a signal or stream, a portion of a signal or stream, a set of signals or streams, and the like. Further, the term “data” may also be used to mean a reference to information, e.g., in form of a pointer. The term “data”, however, is not limited to the aforementioned examples and may take various forms and / or may represent any information as understood in the art.

[0036] The terms “processor” or “controller” may be understood to include any kind of technological entity that allows handling of any suitable type of data and / or information. The data and / or information may be handled according to one or more specific functions executed by the processor or controller. Further, a processor or a controller may be understood as any kind of circuit, e.g., any kind of analog or digital circuit. A processor or a controller may thus be or include an analog circuit, digital circuit, mixed-signal circuit, logic circuit, processor, microprocessor, Central Processing Unit (CPU), Graphics Processing Unit (GPU), Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), integrated circuit, Application Specific Integrated Circuit (ASIC), and the like, or any combination thereof. Any other kind of implementation of the respective functions, which will be described below in further detail, may also be understood as a processor, controller, or logic circuit. It is understood that any two (or more) processors, controllers, or logic circuits detailed herein may be realized as a single entity with equivalent functionality or the like, and conversely that any single processor, controller, or logic circuit detailed herein may be realized as two (or more) separate entities with equivalent functionality or the like.MBE-P-02777-PC

[0037] The term “memory” is understood as a computer-readable medium (e.g., a non-transitory computer-readable medium) in which data or information can be stored for retrieval. References to “memory” may thus be understood as referring to 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, among others, or any combination thereof. Registers, shift registers, processor registers, data buffers, among others, are also embraced herein by the term memory. The term “software” may be used to refer to any type of executable instruction and / or logic, including firmware.

[0038] A “vehicle” may be understood to include any type of driven object. By way of example, a vehicle may be a driven object with a combustion engine, an electric engine, a reaction engine, an electrically driven object, a hybrid driven object, or a combination thereof. A vehicle may be, or may include, an automobile, a bus, a mini bus, a van, a truck, a mobile home, a vehicle trailer, a motorcycle, a bicycle, a tricycle, a train locomotive, a train wagon, a moving robot, a personal transporter, a boat, a ship, a submersible, a submarine, a drone, an aircraft, a rocket, among others.

[0039] A “ground vehicle” may be understood to include any type of vehicle, which is configured to traverse the ground, e.g., on a street, on a road, on a track, on one or more rails, off-road, or the like.

[0040] An “autonomous vehicle” may describe a vehicle capable of implementing at least one navigational change without driver input. A navigational change may describe or include a change in one or more of steering, braking, acceleration / deceleration, or any other operation relating to movement, of the vehicle. A vehicle may be described as autonomous even in case the vehicle is not fully autonomous, for example, fully operational with driver or without driver input. Autonomous vehicles may include those vehicles that can operate under driver control during certain time periods, and without driver control during other time periods. Additionally or alternatively, autonomous vehicles may include vehicles that control only some aspects of vehicle navigation, such as steering, e.g., to maintain a vehicle course between vehicle lane constraints, or some steering operations under certain circumstances, e.g., not under all circumstances, but may leave other aspects of vehicle navigation to the driver, e.g., braking or braking under certain circumstances.MBE-P-02777-PC Additionally or alternatively, autonomous vehicles may include vehicles that share the control of one or more aspects of vehicle navigation under certain circumstances, e.g., hands-on, such as responsive to a driver input; and / or vehicles that control one or more aspects of vehicle navigation under certain circumstances, e.g., hands-off, such as independent of driver input. Additionally or alternatively, autonomous vehicles may include vehicles that control one or more aspects of vehicle navigation under certain circumstances, such as under certain environmental conditions, e.g., spatial areas, roadway conditions, or the like. In some aspects, autonomous vehicles may handle some or all aspects of braking, speed control, velocity control, steering, and / or any other additional operations, of the vehicle. An autonomous vehicle may include those vehicles that can operate without a driver. The level of autonomy of a vehicle may be described or determined by the Society of Automotive Engineers (SAE) level of the vehicle, e.g., as defined by the SAE, for example in SAE J30162018: Taxonomy and definitions for terms related to driving automation systems for on road motor vehicles, or by other relevant professional organizations. The SAE level may have a value ranging from a minimum level, e.g., level 0 (illustratively, substantially no driving automation), to a maximum level, e.g., level 5 (illustratively, full driving automation).

[0041] An “assisted vehicle” may describe a vehicle capable of informing a driver or occupant of the vehicle of sensed data or information derived therefrom.

[0042] The phrase “vehicle operation data” may be understood to describe any type of feature related to the operation of a vehicle. By way of example, “vehicle operation data” may describe the status of the vehicle, such as, the type of tires of the vehicle, the type of vehicle, and / or the age of the manufacturing of the vehicle. More generally, “vehicle operation data” may describe or include static features or static vehicle operation data (illustratively, features or data not changing over time). As another example, additionally or alternatively, “vehicle operation data” may describe or include features changing during the operation of the vehicle, for example, environmental conditions, such as weather conditions or road conditions during the operation of the vehicle, fuel levels, fluid levels, operational parameters of the driving source of the vehicle, or the like. More generally, “vehicle operation data” may describe or include varying features or varying vehicle operation data (illustratively, time varying features or data).MBE-P-02777-PC

[0043] Some aspects may be used in conjunction with various devices and systems, for example, a radar sensor, a radar device, a radar system, a vehicle, a vehicular system, an autonomous vehicular system, a vehicular communication system, a vehicular device, an airborne platform, a waterborne platform, road infrastructure, sports-capture infrastructure, city monitoring infrastructure, static infrastructure platforms, indoor platforms, moving platforms, robot platforms, industrial platforms, a sensor device, a User Equipment (UE), a Mobile Device (MD), a wireless station (STA), a sensor device, a non-vehicular device, a mobile or portable device, and the like.

[0044] Some aspects may be used in conjunction with Radio Frequency (RF) systems, radar systems, vehicular radar systems, autonomous systems, robotic systems, detection systems, or the like.

[0045] Some demonstrative aspects may be used in conjunction with an RF frequency in a frequency band having a starting frequency above 10 Gigahertz (GHz), for example, a frequency band having a starting frequency between 10GHz and 120GHz. For example, some demonstrative aspects may be used in conjunction with an RF frequency having a starting frequency above 30GHz, for example, above 45GHz, e.g., above 60GHz. For example, some demonstrative aspects may be used in conjunction with an automotive radar frequency band, e.g., a frequency band between 76GHz and 81GHz. However, other aspects may be implemented utilizing any other suitable frequency bands, for example, a frequency band above 140GHz, a frequency band of 300GHz, a sub Terahertz (THz) band, a THz band, an Infra-Red (IR) band, and / or any other frequency band.

[0046] As used herein, the term "circuitry" may refer to, be part of, or include, an Application Specific Integrated Circuit (ASIC), an integrated circuit, an electronic circuit, a processor (shared, dedicated, or group), and / or memory (shared, dedicated, or group), that execute one or more software or firmware programs, a combinational logic circuit, and / or other suitable hardware components that provide the described functionality. In some aspects, some functions associated with the circuitry may be implemented by, one or more software or firmware modules. In some aspects, circuitry may include logic, at least partially operable in hardware.

[0047] The term “logic” may refer, for example, to computing logic embedded in circuitry of a computing apparatus and / or computing logic stored in a memory of aMBE-P-02777-PC computing apparatus. For example, the logic may be accessible by a processor of the computing apparatus to execute the computing logic to perform computing functions and / or operations. In one example, logic may be embedded in various types of memory and / or firmware, e.g., silicon blocks of various chips and / or processors. Logic may be included in, and / or implemented as part of, various circuitry, e.g., radio circuitry, receiver circuitry, control circuitry, transmitter circuitry, transceiver circuitry, processor circuitry, and / or the like. In one example, logic may 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. Logic may be executed by one or more processors using memory, e.g., registers, buffers, stacks, and the like, coupled to the one or more processors, e.g., as necessary to execute the logic.

[0048] The term “communicating” as used herein with respect to a signal includes transmitting the signal and / or receiving the signal. For example, an apparatus, which is capable of communicating a signal, may include a transmitter to transmit the signal, and / or a receiver to receive the signal. The verb communicating may be used to refer to the action of transmitting or the action of receiving. In one example, the phrase “communicating a signal” may refer to the action of transmitting the signal by a transmitter, and may not necessarily include the action of receiving the signal by a receiver. In another example, the phrase “communicating a signal” may refer to the action of receiving the signal by a receiver, and may not necessarily include the action of transmitting the signal by a transmitter.

[0049] 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 aspects, the antenna may implement transmit and receive functionalities using separate transmit and receive antenna elements. In some aspects, the antenna may implement transmit and receive functionalities using common and / or integrated transmit / receive elements. The antenna may include, for example, a phased array antenna, a MIMO (Multiple-Input Multiple-Output) array antenna, a single element antenna, a set of switched beam antennas, and / or the like. In one example, an antenna may be implemented as a separate element or an integratedMBE-P-02777-PC element, for example, as an on-module antenna, an on-chip antenna, or according to any other antenna architecture.

[0050] Some demonstrative aspects are described herein with respect to RF radar signals. However, other aspects may be implemented with respect to, or in conjunction with, any other radar signals, wireless signals, IR signals, acoustic signals, optical signals, wireless communication signals, communication scheme, network, standard, and / or protocol. For example, some demonstrative aspects may be implemented with respect to systems, e.g., Light Detection Ranging (LiDAR) systems, and / or sonar systems, utilizing light and / or acoustic signals.

[0051] Reference is now made to Fig. 1, which schematically illustrates a block diagram of a vehicle 100 implementing a radar, in accordance with some demonstrative aspects.

[0052] In some demonstrative aspects, vehicle 100 may include a car, a truck, a motorcycle, a bus, a train, an airborne vehicle, a waterborne vehicle, a cart, a golf cart, an electric cart, a road agent, or any other vehicle.

[0053] In some demonstrative aspects, vehicle 100 may include a radar device 101, e.g., as described below. For example, radar device 101 may include a radar detecting device, a radar sensing device, a radar sensor, or the like, e.g., as described below.

[0054] In some demonstrative aspects, radar device 101 may be implemented as part of a vehicular system, for example, a system to be implemented and / or mounted in vehicle 100.

[0055] In one example, radar device 101 may 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 the like.

[0056] For example, radar device 101 may be installed in vehicle 100 for detection of nearby objects, e.g., for autonomous driving.

[0057] In some demonstrative aspects, radar device 101 may be configured to detect targets in a vicinity of vehicle 100, e.g., in a far vicinity and / or a near vicinity, for example, using RF and analog chains, capacitor structures, large spiral transformers and / or any other electronic or electrical elements, e.g., as described below.MBE-P-02777-PC

[0058] In one example, radar device 101 may be mounted onto, placed, e.g., directly, onto, or attached to, vehicle 100.

[0059] In some demonstrative aspects, vehicle 100 may include a plurality of radar aspects, vehicle 100 may include a single radar device 101.

[0060] In some demonstrative aspects, vehicle 100 may include a plurality of radar devices 101, which may be configured to cover a field of view of 360 degrees around vehicle 100.

[0061] In other aspects, vehicle 100 may include any other suitable count, arrangement, and / or configuration of radar devices and / or units, which may be suitable to cover any other field of view, e.g., a field of view of less than 360 degrees.

[0062] In some demonstrative aspects, radar device 101 may be implemented as a component in a suite of sensors used for driver assistance and / or autonomous vehicles, for example, due to the ability of radar to operate in nearly all-weather conditions.

[0063] In some demonstrative aspects, radar device 101 may be configured to support autonomous vehicle usage, e.g., as described below.

[0064] In one example, radar device 101 may determine a class, a location, an orientation, a velocity, an intention, a perceptional understanding of the environment, and / or any other information corresponding to an object in the environment.

[0065] In another example, radar device 101 may be configured to determine one or more parameters and / or information for one or more operations and / or tasks, e.g., path planning, and / or any other tasks.

[0066] In some demonstrative aspects, radar device 101 may be configured to map a scene by measuring targets’ echoes (reflectivity) and discriminating them, for example, mainly in range, velocity, azimuth and / or elevation, e.g., as described below.

[0067] In some demonstrative aspects, radar device 101 may be configured to detect, and / or sense, one or more objects, which are located in a vicinity, e.g., a far vicinity and / or a near vicinity, of the vehicle 100, and to provide one or more parameters, attributes, and / or information with respect to the objects.

[0068] In some demonstrative aspects, the objects may include road users, such as other vehicles, pedestrians; road objects and markings, such as traffic signs, trafficMBE-P-02777-PC lights, lane markings, road markings, road elements, e.g., a pavement-road meeting, a road edge, a road profile, 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.

[0069] In some demonstrative aspects, the one or more parameters, attributes and / or information with respect to the object may include a range of the objects from the vehicle 100, an angle of the object with respect to the vehicle 100, a location of the object with respect to the vehicle 100, a relative speed of the object with respect to vehicle 100, and / or the like.

[0070] In some demonstrative aspects, radar device 101 may include a Multiple Input Multiple Output (MIMO) radar device 101, e.g., as described below. In one example, the MIMO radar device may be configured to utilize “spatial filtering” processing, for example, beamforming and / or any other mechanism, for one or both of Transmit (Tx) signals and / or Receive (Rx) signals.

[0071] Some demonstrative aspects are described below with respect to a radar device, e.g., radar device 101, implemented as a MIMO radar. However, in other aspects, radar device 101 may be implemented as any other type of radar utilizing a plurality of antenna elements, e.g., a Single Input Multiple Output (SIMO) radar or a Multiple Input Single output (MISO) radar.

[0072] Some demonstrative aspects may be implemented with respect to a radar device, e.g., radar device 101, implemented as a MIMO radar, e.g., as described below. However, in other aspects, radar device 101 may be implemented as any other type of radar, for example, an Electronic Beam Steering radar, a Synthetic Aperture Radar (SAR), adaptive and / or cognitive radars that change their transmission according to the environment and / or ego state, a reflect array radar, or the like.

[0073] In some demonstrative aspects, radar device 101 may include an antenna arrangement 102, a radar frontend 103 configured to communicate radar signals via the antenna arrangement 102, and a radar processor 104 configured to generate radar information based on the radar signals, e.g., as described below.

[0074] In some demonstrative aspects, radar processor 104 may be configured to process radar information of radar device 101 and / or to control one or more operations of radar device 101, e.g., as described below.MBE-P-02777-PC

[0075] In some demonstrative aspects, radar processor 104 may include, or may be implemented, partially or entirely, by circuitry and / or logic, e.g., one or more processors including circuitry and / or logic, memory circuitry and / or logic. Additionally or alternatively, one or more functionalities of radar processor 104 may be implemented by logic, which may be executed by a machine and / or one or more processors, e.g., as described below.

[0076] In one example, radar processor 104 may include at least one memory, e.g., coupled to the one or more processors, which may be configured, for example, to store, e.g., at least temporarily, at least some of the information processed by the one or more processors and / or circuitry, and / or which may be configured to store logic to be utilized by the processors and / or circuitry.

[0077] In other aspects, radar processor 104 may be implemented by one or more additional or alternative elements of vehicle 100.

[0078] In some demonstrative aspects, radar frontend 103 may include, for example, one or more (radar) transmitters, and a one or more (radar) receivers, e.g., as described below.

[0079] In some demonstrative aspects, antenna arrangement 102 may include a plurality of antennas to communicate the radar signals. For example, antenna arrangement 102 may include multiple transmit antennas in the form of a transmit antenna array, and multiple receive antennas in the form of a receive antenna array. In another example, antenna arrangement 102 may include one or more antennas used both as transmit and receive antennas. In the latter case, the radar frontend 103, for example, may include a duplexer or a circulator, e.g., a circuit to separate transmitted signals from received signals.

[0080] In some demonstrative aspects, as shown in Fig. 1, the radar frontend 103 and the antenna arrangement 102 may be controlled, e.g., by radar processor 104, to transmit a radio transmit signal 105.

[0081] In some demonstrative aspects, as shown in Fig. 1, the radio transmit signal 105 may be reflected by an object 106, resulting in an echo 107.

[0082] In some demonstrative aspects, the radar device 101 may receive the echo 107, e.g., via antenna arrangement 102 and radar frontend 103, and radar processor 104MBE-P-02777-PC may generate radar information, for example, by calculating information about position, radial velocity (Doppler), and / or direction of the object 106, e.g., with respect to vehicle 100.

[0083] In some demonstrative aspects, radar processor 104 may be configured to provide the radar information to a vehicle controller 108 of the vehicle 100, e.g., for autonomous driving of the vehicle 100.

[0084] In some demonstrative aspects, at least part of the functionality of radar processor 104 may be implemented as part of vehicle controller 108. In other aspects, the functionality of radar processor 104 may be implemented as part of any other element of radar device 101 and / or vehicle 100. In other aspects, radar processor 104 may be implemented, as a separate part of, or as part of any other element of radar device 101 and / or vehicle 100.

[0085] In some demonstrative aspects, vehicle controller 108 may be configured to control one or more functionalities, modes of operation, components, devices, systems and / or elements of vehicle 100.

[0086] In some demonstrative aspects, vehicle controller 108 may be configured to control one or more vehicular systems of vehicle 100, e.g., as described below.

[0087] In some demonstrative aspects, the vehicular systems may include, for example, a steering system, a braking system, a driving system, and / or any other system of the vehicle 100.

[0088] In some demonstrative aspects, vehicle controller 108 may configured to control radar device 101, and / or to process one or parameters, attributes and / or information from radar device 101.

[0089] In some demonstrative aspects, vehicle controller 108 may be configured, for example, to control the vehicular systems of the vehicle 100, for example, based on radar information from radar device 101 and / or one or more other sensors of the vehicle 100, e.g., Light Detection and Ranging (LIDAR) sensors, camera sensors, and / or the like.

[0090] In one example, vehicle controller 108 may control the steering system, the braking system, and / or any other vehicular systems of vehicle 100, for example, basedMBE-P-02777-PC on the information from radar device 101, e.g., based on one or more objects detected by radar device 101.

[0091] In other aspects, vehicle controller 108 may be configured to control any other additional or alternative functionalities of vehicle 100.

[0092] Some demonstrative aspects are described herein with respect to a radar device 101 implemented in a vehicle, e.g., vehicle 100. In other aspects a radar device, e.g., radar device 101, may be implemented as part of any other element of a traffic system or network, for example, as part of a road infrastructure, and / or any other element of a traffic network or system. Other aspects may be implemented with respect to any other system, environment and / or apparatus, which may be implemented in any other object, environment, location, or place. For example, radar device 101 may be part of a non-vehicular device, which may be implemented, for example, in an indoor location, a stationary infrastructure outdoors, or any other location.

[0093] In some demonstrative aspects, radar device 101 may be configured to support security usage. In one example, radar device 101 may be configured to determine a nature of an operation, e.g., a human entry, an animal entry, an environmental movement, and the like, to identity a threat level of a detected event, and / or any other additional or alternative operations.

[0094] Some demonstrative aspects may be implemented with respect to any other additional or alternative devices and / or systems, for example, for a robot, e.g., as described below.

[0095] In other aspects, radar device 101 may be configured to support any other usages and / or applications.

[0096] Reference is now made to Fig. 2, which schematically illustrates a block diagram of a robot 200 implementing a radar, in accordance with some demonstrative aspects.

[0097] In some demonstrative aspects, robot 200 may include a robot arm 201. The robot 200 may be implemented, for example, in a factory for handling an object 213, which may be, for example, a part that should be affixed to a product that is being manufactured. The robot arm 201 may include a plurality of movable members, for example, movable members 202, 203, 204, and a support 205. Moving the movableMBE-P-02777-PC members 202, 203, and / or 204 of the robot arm 201, e.g., by actuation of associated motors, may allow physical interaction with the environment to carry out a task, e.g., handling the object 213.

[0098] In some demonstrative aspects, the robot arm 201 may include a plurality of joint elements, e.g., joint elements 207, 208, 209, which may connect, for example, the members 202, 203, and / or 204 with each other, and with the support 205. For example, a joint element 207, 208, 209 may have one or more joints, each of which may provide rotatable motion, e.g., rotational motion, and / or translatory motion, e.g., displacement, to associated members and / or motion of members relative to each other. The movement of the members 202, 203, 204 may be initiated by suitable actuators.

[0099] In some demonstrative aspects, the member furthest from the support 205, e.g., member 204, may also be referred to as the end-effector 204 and may include one or more tools, such as, a claw for gripping an object, a welding tool, or the like. Other members, e.g., members 202, 203, closer to the support 205, may be utilized to change the position of the end-effector 204, e.g., in three-dimensional space. For example, the robot arm 201 may be configured to function similarly to a human arm, e.g., possibly with a tool at its end. [000100] In some demonstrative aspects, robot 200 may include a (robot) controller 206 configured to implement interaction with the environment, e.g., by controlling the robot arm’s actuators, according to a control program, for example, in order to control the robot arm 201 according to the task to be performed. [000101] In some demonstrative aspects, an actuator may include a component adapted to affect a mechanism or process in response to being driven. The actuator can respond to commands given by the controller 206 (the so-called activation) by performing mechanical movement. This means that an actuator, typically a motor (or electromechanical converter), may be configured to convert electrical energy into mechanical energy when it is activated (i.e. actuated). [000102] In some demonstrative aspects, controller 206 may be in communication with a radar processor 210 of the robot 200. [000103] In some demonstrative aspects, a radar fronted 211 and a radar antenna arrangement 212 may be coupled to the radar processor 210. In one example, radarMBE-P-02777-PC fronted 211 and / or radar antenna arrangement 212 may be included, for example, as part of the robot arm 201. [000104] In some demonstrative aspects, the radar frontend 211, the radar antenna arrangement 212 and the radar processor 210 may be operable as, and / or may be configured to form, a radar device. For example, antenna arrangement 212 may be configured to perform one or more functionalities of antenna arrangement 102 (Fig.1), radar frontend 211 may be configured to perform one or more functionalities of radar frontend 103 (Fig. 1), and / or radar processor 210 may be configured to perform one or more functionalities of radar processor 104 (Fig. 1), e.g., as described above. [000105] In some demonstrative aspects, for example, the radar frontend 211 and the antenna arrangement 212 may be controlled, e.g., by radar processor 210, to transmit a radio transmit signal 214. [000106] In some demonstrative aspects, as shown in Fig. 2, the radio transmit signal 214 may be reflected by the object 213, resulting in an echo 215. [000107] In some demonstrative aspects, the echo 215 may be received, e.g., via antenna arrangement 212 and radar frontend 211, and radar processor 210 may generate radar information, for example, by calculating information about position, speed (Doppler) and / or direction of the object 213, e.g., with respect to robot arm 201. [000108] In some demonstrative aspects, radar processor 210 may be configured to provide the radar information to the robot controller 206 of the robot arm 201, e.g., to control robot arm 201. For example, robot controller 206 may be configured to control robot arm 201 based on the radar information, e.g., to grab the object 213 and / or to perform any other operation. [000109] Reference is made to Fig.3, which schematically illustrates a radar apparatus 300, in accordance with some demonstrative aspects. [000110] In some demonstrative aspects, radar apparatus 300 may be implemented as part of a device or system 301, e.g., as described below. [000111] For example, radar apparatus 300 may be implemented as part of, and / or may configured to perform one or more operations and / or functionalities of, the devices or systems described above with reference to Fig. 1 an / or Fig. 2. In other aspects, radar apparatus 300 may be implemented as part of any other device or system 301.MBE-P-02777-PC [000112] In some demonstrative aspects, radar device 300 may include an antenna arrangement, which may include one or more transmit antennas 302 and one or more receive antennas 303. In other aspects, any other antenna arrangement may be implemented. [000113] In some demonstrative aspects, radar device 300 may include a radar frontend 304, and a radar processor 309. [000114] In some demonstrative aspects, as shown in Fig. 3, the one or more transmit antennas 302 may be coupled with a transmitter (or transmitter arrangement) 305 of the radar frontend 304; and / or the one or more receive antennas 303 may be coupled with a receiver (or receiver arrangement) 306 of the radar frontend 304, e.g., as described below. [000115] In some demonstrative aspects, 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 transmitted by the one or more transmit antennas 302, e.g., as described below. [000116] In some demonstrative aspects, for example, radar processor 309 may provide digital radar transmit data values to the radar frontend 304. For example, radar frontend 304 may include a Digital-to-Analog Converter (DAC) 307 to convert the digital radar transmit data values to an analog transmit signal. The transmitter 305 may convert the analog transmit signal to a radio transmit signal which is to be transmitted by transmit antennas 302. [000117] In some demonstrative aspects, 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 receive antennas 303, e.g., as described below. [000118] In some demonstrative aspects, for example, receiver 306 may convert a radio receive signal received via the one or more receive antennas 303 into an analog receive signal. The radar frontend 304 may include an Analog-to-Digital Converter (ADC) 308 to generate digital radar reception data values based on the analog receive signal. For example, radar frontend 304 may provide the digital radar reception data values to the radar processor 309.MBE-P-02777-PC [000119] In some demonstrative aspects, radar processor 309 may be configured to process the digital radar reception data values, for example, to detect one or more objects, e.g., in an environment of the device / system 301. This detection may include, for example, the determination of information including one or more of range, speed (Doppler), direction, and / or any other information, of one or more objects, e.g., with respect to the system 301. [000120] In some demonstrative aspects, radar processor 309 may be configured to provide the determined radar information to a system controller 310 of device / system 301. For example, system controller 310 may include a vehicle controller, e.g., if device / system 301 includes a vehicular device / system, a robot controller, e.g., if device / system 301 includes a robot device / system, or any other type of controller for any other type of device / system 301. [000121] In some demonstrative aspects, the radar information from radar processor 309 may be processed, e.g., by system controller 310 and / or any other element of system 301, for example, in combination with information from one or more other of information sources, for example, LiDAR information from a LiDAR processor, vision information from a vision-based processor, or the like. [000122] In some demonstrative aspects, an environmental model of an environment of system 301 may be determined, e.g., by system controller 310 and / or any other element of system 301, for example, based on the radar information from radar processor 309, and / or the information from one or more other of information sources. [000123] In some demonstrative aspects, a driving policy system, e.g., which may be implemented by system controller 310 and / or any other element of system 301, may process the environmental model, for example, to decide on one or more actions, which may be taken. [000124] In some demonstrative aspects, system controller 310 may be configured to control one or more controlled system components 311 of the system 301, e.g. a motor, a brake, steering, and the like, e.g. by one or more corresponding actuators, for example, based on the one or more action decisions. [000125] In some demonstrative aspects, radar device 300 may include a storage 312 or a memory 313, e.g., to store information processed by radar 300, for example, digitalMBE-P-02777-PC radar reception data values being processed by the radar processor 309, radar information generated by radar processor 309, and / or any other data to be processed by radar processor 309. [000126] In some demonstrative aspects, device / system 301 may include, for example, an application processor 314 and / or a communication processor 315, for example, to at least partially implement one or more functionalities of system controller 310 and / or to perform communication between system controller 310, radar device 300, the controlled system components 311, and / or one or more additional elements of device / system 301. [000127] In some demonstrative aspects, radar device 300 may be configured to generate and transmit the radio transmit signal in a form, which may support determination of range, speed, and / or direction, e.g., as described below. [000128] For example, a radio transmit signal of a radar may be configured to include a plurality of pulses. For example, a pulse transmission may include the transmission of short high-power bursts in combination with times during which the radar device listens for echoes. [000129] For example, in order to more optimally support a highly dynamic situation, e.g., in an automotive scenario, a Continuous Wave (CW) may instead be used as the radio transmit signal. However, a continuous wave, e.g., with constant frequency, may support velocity determination, but may not allow range determination, e.g., due to the lack of a time mark that could allow distance calculation. [000130] In some demonstrative aspects, radio transmit signal 105 (Fig. 1) may be transmitted according to technologies such as, for example, Frequency-Modulated continuous wave (FMCW) radar, Phase-Modulated Continuous Wave (PMCW) radar, Orthogonal Frequency Division Multiplexing (OFDM) radar, and / or any other type of radar technology, which may support determination of range, velocity, and / or direction, e.g., as described below. [000131] Reference is made to Fig. 4, which schematically illustrates a FMCW radar apparatus, in accordance with some demonstrative aspects. [000132] In some demonstrative aspects, FMCW radar device 400 may include a radar frontend 401, and a radar processor 402. For example, radar frontend 304 (Fig. 3) mayMBE-P-02777-PC include one or more elements of, and / or may perform one or more operations and / or functionalities of, radar frontend 401; and / or radar processor 309 (Fig. 3) may include one or more elements of, and / or may perform one or more operations and / or functionalities of, radar processor 402. [000133] In some demonstrative aspects, FMCW radar device 400 may be configured to communicate radio signals according to an FMCW radar technology, e.g., rather than sending a radio transmit signal with a constant frequency. [000134] In some demonstrative aspects, radio frontend 401 may be configured to ramp up and reset the frequency of the transmit signal, e.g., periodically, for example, according to a saw tooth waveform 403. In other aspects, a triangle waveform, or any other suitable waveform may be used. [000135] In some demonstrative aspects, for example, radar processor 402 may be configured to provide waveform 403 to frontend 401, for example, in digital form, e.g., as a sequence of digital values. [000136] In some demonstrative aspects, radar frontend 401 may include a DAC 404 to convert waveform 403 into analog form, and to supply it to a voltage-controlled oscillator 405. For example, oscillator 405 may be configured to generate an output signal, which may be frequency-modulated in accordance with the waveform 403. [000137] In some demonstrative aspects, oscillator 405 may be configured to generate the output signal including a radio transmit signal, which may be fed to and sent out by one or more transmit antennas 406. [000138] In some demonstrative aspects, the radio transmit signal generated by the oscillator 405 may have the form of a sequence of chirps 407, which may be the result of the modulation of a sinusoid with the saw tooth waveform 403. [000139] In one example, a chirp 407 may correspond to the sinusoid of the oscillator signal frequency-modulated by a “tooth” of the saw tooth waveform 403, e.g., from the minimum frequency to the maximum frequency. [000140] In some demonstrative aspects, a radar device may be configured to utilize radio transmit signals having a form of chirps, e.g., chirps 407, for example, according to a chirp modulation, e.g., as described below.MBE-P-02777-PC [000141] In other aspects, the radar device may be configured to utilize radio transmit signals configured according to a Phase Modulation (PM), a digital modulation, an OFDM modulation, and / or any other suitable type of modulation. [000142] In some demonstrative aspects, FMCW radar device 400 may include one or more receive antennas 408 to receive a radio receive signal. The radio receive signal may be based on the echo of the radio transmit signal, e.g., in addition to any noise, interference, or the like. [000143] In some demonstrative aspects, radar frontend 401 may include a mixer 409 to mix the radio transmit signal with the radio receive signal into a mixed signal. [000144] In some demonstrative aspects, radar frontend 401 may include a filter, e.g., a Low Pass Filter (LPF) 410, which may be configured to filter the mixed signal from the mixer 409 to provide a filtered signal. For example, radar frontend 401 may include an ADC 411 to convert the filtered signal into digital reception data values, which may be provided to radar processor 402. In another example, the filter 410 may be a digital filter, and the ADC 411 may be arranged between the mixer 409 and the filter 410. [000145] In some demonstrative aspects, radar processor 402 may be configured to process the digital reception data values to provide radar information, for example, including range, speed (velocity / Doppler), and / or direction (AoA) information of one or more objects. [000146] In some demonstrative aspects, radar processor 402 may be configured to perform a first Fast Fourier Transform (FFT) (also referred to as “range FFT”) to extract a delay response, which may be used to extract range information, and / or a second FFT (also referred to as “Doppler FFT”) to extract a Doppler shift response, which may be used to extract velocity information, from the digital reception data values. [000147] In other aspects, any other additional or alternative methods may be utilized to extract range information. In one example, in a digital radar implementation, a correlation with the transmitted signal may be used, e.g., according to a matched filter implementation. [000148] Reference is made to Fig. 5, which schematically illustrates an extraction scheme, which may be implemented to extract range and speed (Doppler) estimations from digital reception radar data values, in accordance with some demonstrativeMBE-P-02777-PC aspects. For example, radar processor 104 (Fig. 1), radar processor 210 (Fig. 2), radar processor 309 (Fig.3), and / or radar processor 402 (Fig.4), may be configured to extract range and / or speed (Doppler) estimations from digital reception radar data values according to one or more aspects of the extraction scheme of Fig. 5. [000149] In some demonstrative aspects, as shown in Fig. 5, a radio receive signal, e.g., including echoes of a radio transmit signal, may be received by a receive antenna array 501. The radio receive signal may be processed by a radio radar frontend 502 to generate digital reception data values, e.g., as described above. The radio radar frontend 502 may provide the digital reception data values to a radar processor 503, which may process the digital reception data values to provide radar information, e.g., as described above. [000150] In some demonstrative aspects, the digital reception data values may be represented in the form of a data cube 504. For example, the data cube 504 may include digitized samples of the radio receive signal, which is based on a radio signal transmitted from a transmit antenna and received by M receive antennas. In some demonstrative aspects, for example, with respect to a MIMO implementation, there may be multiple transmit antennas, and the number of samples may be multiplied accordingly. [000151] In some demonstrative aspects, a layer of the data cube 504, for example, a horizontal layer of the data cube 504, may include samples of an antenna, e.g., a respective antenna of the M antennas. [000152] In some demonstrative aspects, data cube 504 may include samples for K chirps. For example, as shown in Fig. 5, the samples of the chirps may be arranged in a so-called “slow time” direction. [000153] In some demonstrative aspects, the data cube 504 may include L samples, e.g., L = 512 or any other number of samples, for a chirp, e.g., per each chirp. For example, as shown in Fig.5, the samples per chirp may be arranged in a so-called “fast time” direction of the data cube 504. [000154] In some demonstrative aspects, processor 504 may be configured to determine the range values, Doppler values, and / or Angle of Arrival (AoA) values, e.g.,MBE-P-02777-PC Azimuth values and / or Elevation values, for example, based on FFT techniques, e.g., as described below. [000155] In other aspects, processor 504 may be configured to determine the range values, Doppler values, and / or Angle of Arrival (AoA) values, e.g., Azimuth values and / or Elevation values, for example, based on Super-Resolution (SR) techniques, and / or any other suitable processing technique. [000156] In some demonstrative aspects, radar processor 503 may be configured to process a plurality of samples, e.g., L samples collected for each chirp and for each antenna, by a first FFT. The first FFT may be performed, for example, for each chirp and each antenna, such that a result of the processing of the data cube 504 by the first FFT may again have three dimensions, and may have the size of the data cube 504 while including values for L range bins, e.g., instead of the values for the L sampling times. [000157] In some demonstrative aspects, radar processor 503 may be configured to process the result of the processing of the data cube 504 by the first FFT, for example, by processing the result according to a second FFT along the chirps, e.g., for each antenna and for each range bin. [000158] For example, the first FFT may be in the “fast time” direction, and the second FFT may be in the “slow time” direction. [000159] In some demonstrative aspects, the result of the second FFT may provide, e.g., when aggregated over the antennas, a range / Doppler (R / D) map 505. The R / D map may have FFT peaks 506, for example, including peaks of FFT output values (in terms of absolute values) for certain range / speed 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, radar processor 503 may consider a peak as potentially corresponding to an object, e.g., of the range and speed corresponding to the peak’s range bin and speed bin. [000160] In some demonstrative aspects, the extraction scheme of Fig. 5 may be implemented for an FMCW radar, e.g., FMCW radar 400 (Fig. 4), as described above. In other aspects, the extraction scheme of Fig. 5 may be implemented for any other radar type. In one example, the radar processor 503 may be configured to determine aMBE-P-02777-PC range / Doppler map 505 from digital reception data values of a PMCW radar, an OFDM radar, or any other radar technologies. For example, in adaptive or cognitive radar, the pulses in a frame, the waveform and / or modulation may be changed over time, e.g., according to the environment. [000161] Referring back to Fig. 3, in some demonstrative aspects, receive antenna arrangement 303 may be implemented using a receive antenna array having a plurality of receive antennas (or receive antenna elements). For example, radar processor 309 may be configured to determine an angle of arrival of the received radio signal, e.g., echo 107 (Fig. 1) and / or echo 215 (Fig. 2). For example, radar processor 309 may be configured to determine a 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, e.g., as described below. [000162] Reference is made to Fig. 6, which schematically illustrates an angle- determination scheme, which may be implemented to determine Angle of Arrival (AoA) information based on an incoming radio signal received by a receive antenna array 600, in accordance with some demonstrative aspects. [000163] Fig. 6 depicts an angle-determination scheme based on received signals at the receive antenna array. In some demonstrative aspects, for example, in a virtual MIMO array, the angle-determination may also be based on the signals transmitted by the array of Tx antennas. [000164] Fig. 6 depicts a one-dimensional angle-determination scheme. Other multi- dimensional angle determination schemes, e.g., a two-dimensional scheme or a three- dimensional scheme, may be implemented. [000165] In some demonstrative aspects, as shown in Fig.6, the receive antenna array 600 may include M antennas (numbered, from left to right, 1 to M). [000166] As shown by the arrows in FIG.6, it is assumed that an echo is coming from an object located at the top left direction. Accordingly, the direction of the echo, e.g., the incoming radio signal, may be towards the bottom right. According to this example, the further to the left a receive antenna is located, the earlier it will receive a certain phase of the incoming radio signal.MBE-P-02777-PC [000167] For example, a phase difference, denoted ^ ^, between two antennas of the receive antenna array 600 may be determined, e.g., as follows: ∆^ =2^^∙ ^ ∙ sin^^^ wherein ^ denotes a wavelength of the incoming radio signal, d denotes a distance between the two antennas, and ^ denotes an angle of arrival of the incoming radio signal, e.g., with respect to a normal direction of the array. [000168] In some demonstrative aspects, radar processor 309 (Fig. 3) may be configured to utilize this relationship between phase and angle of the incoming radio signal, for example, to determine the angle of arrival of echoes, for example by performing an FFT, e.g., a third FFT (“angular FFT”) over the antennas. [000169] In some demonstrative aspects, multiple transmit antennas, e.g., in the form of an antenna array having multiple transmit antennas, may be used, for example, to increase the spatial resolution, e.g., to provide high-resolution radar information. For example, a MIMO radar device may utilize a virtual MIMO radar antenna, which may be formed as a convolution of a plurality of transmit antennas convolved with a plurality of receive antennas. [000170] Reference is made to Fig. 7, which schematically illustrates a MIMO radar antenna scheme, which may be implemented based on a combination of Transmit (Tx) and Receive (Rx) antennas, in accordance with some demonstrative aspects. [000171] In some demonstrative aspects, as shown in Fig. 7, a radar MIMO arrangement may include a transmit antenna array 701 and a receive antenna array 702. For example, the one or more transmit antennas 302 (Fig. 3) may be implemented to include transmit antenna array 701, and / or the one or more receive antennas 303 (Fig. 3) may be implemented to include receive antenna array 702. [000172] In some demonstrative aspects, antenna arrays including multiple antennas both for transmitting the radio transmit signals and for receiving echoes of the radio transmit signals, may be utilized to provide a plurality of virtual channels as illustrated by the dashed lines in Fig. 7. For example, a virtual channel may be formed as aMBE-P-02777-PC convolution, for example, as a Kronecker product, between a transmit antenna and a receive antenna, e.g., representing a virtual steering vector of the MIMO radar. [000173] In some demonstrative aspects, a transmit antenna, e.g., each transmit antenna, may be configured to send out an individual radio transmit signal, e.g., having a phase associated with the respective transmit antenna. [000174] For example, an array of N transmit antennas and M receive antennas may be implemented to provide a virtual MIMO array of size N x M. For example, the virtual MIMO array may be formed according to the Kronecker product operation applied to the Tx and Rx steering vectors. [000175] Fig. 8 is a schematic block diagram illustration of elements of a radar device 800, in accordance with some demonstrative aspects. For example, radar device 101 (Fig.1), radar device 300 (Fig.3), and / or radar device 400 (Fig. 4), may include one or more elements of radar device 800, and / or may perform one or more operations and / or functionalities of radar device 800. [000176] In some demonstrative aspects, as shown in Fig. 8, radar device 800 may include a radar frontend 804 and a radar processor 834. For example, radar frontend 103 (Fig.1), radar frontend 211 (Fig.1), radar frontend 304 (Fig.3), radar frontend 401 (Fig. 4), and / or radar frontend 502 (Fig. 5), may include one or more elements of radar frontend 804, and / or may perform one or more operations and / or functionalities of radar frontend 804. [000177] In some demonstrative aspects, radar frontend 804 may be implemented as part of a MIMO radar utilizing a MIMO radar antenna 881 including a plurality of Tx antennas 814 configured to transmit a plurality of Tx RF signals (also referred to as ”Tx radar signals”); and a plurality of Rx antennas 816 configured to receive a plurality of Rx RF signals (also referred to as ”Rx radar signals”), for example, based on the Tx radar signals, e.g., as described below. [000178] In some demonstrative aspects, MIMO antenna array 881, antennas 814, and / or antennas 816 may include or may be part of any type of antennas suitable for transmitting and / or receiving radar signals. For example, MIMO antenna array 881, antennas 814, and / or antennas 816, may be implemented as part of any suitable configuration, structure, and / or arrangement of one or more antenna elements,MBE-P-02777-PC components, units, assemblies, and / or arrays. For example, MIMO antenna array 881, antennas 814, and / or antennas 816, may be implemented as part of a phased array antenna, a multiple element antenna, a set of switched beam antennas, and / or the like. In some aspects, MIMO antenna array 881, antennas 814, and / or antennas 816, may be implemented to support transmit and receive functionalities using separate transmit and receive antenna elements. In some aspects, MIMO antenna array 881, antennas 814, and / or antennas 816, may be implemented to support transmit and receive functionalities using common and / or integrated transmit / receive elements. [000179] In some demonstrative aspects, MIMO radar antenna 881 may include a rectangular MIMO antenna array, and / or curved array, e.g., shaped to fit a vehicle design. In other aspects, any other form, shape and / or arrangement of MIMO radar antenna 881 may be implemented. [000180] In some demonstrative aspects, radar frontend 804 may 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. [000181] In some demonstrative aspects, radar frontend 804 may include at least one transmitter (Tx) 883 including circuitry and / or logic configured to generate and / or transmit the Tx radar signals via Tx antennas 814. [000182] In some demonstrative aspects, radar frontend 804 may include at least one receiver (Rx) 885 including circuitry and / or logic to receive and / or process the Rx radar signals received via Rx antennas 816, for example, based on the Tx radar signals. [000183] In some demonstrative aspects, transmitter 883, and / or receiver 885 may include circuitry; logic; Radio Frequency (RF) elements, circuitry and / or logic; baseband elements, circuitry and / or logic; modulation elements, circuitry and / or logic; demodulation elements, circuitry and / or logic; amplifiers; analog to digital and / or digital to analog converters; filters; and / or the like. [000184] In some demonstrative aspects, transmitter 883 may include a plurality of Tx chains 810 configured to generate and transmit the Tx RF signals via Tx antennas 814, e.g., respectively; and / or receiver 885 may include a plurality of Rx chains 812MBE-P-02777-PC configured to receive and process the Rx RF signals received via the Rx antennas 816, e.g., respectively. [000185] In some demonstrative aspects, radar processor 834 may be configured to generate radar information 813, for example, based on the radar signals communicated by MIMO radar antenna 881, e.g., as described below. For example, radar processor 104 (Fig. 1), radar processor 210 (Fig.2), radar processor 309 (Fig. 3), radar processor 402 (Fig. 4), and / or radar processor 503 (Fig. 5), may include one or more elements of radar processor 834, and / or may perform one or more operations and / or functionalities of radar processor 834. [000186] In some demonstrative aspects, radar processor 834 may be configured to generate radar information 813, for example, based on radar Rx data 811 received from the plurality of Rx chains 812. For example, radar Rx data 811 may be based on the radar Rx signals received via the Rx antennas 816. [000187] In some demonstrative aspects, radar processor 834 may include an input 832 to receive radar input data, e.g., including the radar Rx data 811 from the plurality of Rx chains 812. [000188] In some demonstrative aspects, input 832 may include any suitable input interface, input unit, input module, input component, input circuitry, memory interface, memory access unit, memory reader, digital memory unit, bus interface, processor interface, or the like, which may be capable of receiving the radar input data from a memory, a processor, and / or any other suitable component to provide the radar input data. [000189] In some demonstrative aspects, radar processor 834 may include, or may be implemented, partially or entirely, by circuitry and / or logic, e.g., one or more processors including circuitry and / or logic, memory circuitry and / or logic. Additionally or alternatively, one or more functionalities of radar processor 834 may be implemented by logic, which may be executed by a machine and / or one or more processors, e.g., as described below. [000190] In some demonstrative aspects, radar processor 834 may include at least one processor 836, which may be configured, for example, to process the radar Rx data 811, and / or to perform one or more operations, methods, and / or algorithms.MBE-P-02777-PC [000191] In some demonstrative aspects, radar processor 834 may include at least one memory 838, e.g., coupled to the processor 836. For example, memory 838 may be configured to store data processed by radar processor 834. For example, memory 838 may store, e.g., at least temporarily, at least some of the information processed by the processor 836, and / or logic to be utilized by the processor 836. [000192] In some demonstrative aspects, processor 836 may interface with memory 838, for example, via a memory interface 839. [000193] In some demonstrative aspects, processor 836 may be configured to access memory 838, e.g., to write data to memory 838 and / or to read data from memory 838, for example, via memory interface 839. [000194] In some demonstrative aspects, memory 838 may be configured to store at least part of the radar data, e.g., some of the radar Rx data or all of the radar Rx data, for example, for processing by processor 836, e.g., as described below. [000195] In some demonstrative aspects, memory 838 may be configured to store processed data, which may be generated by processor 836, for example, during the process of generating the radar information 813, e.g., as described below. [000196] In some demonstrative aspects, memory 838 may be configured to store range information and / or Doppler information, which may be generated by processor 836, for example, based on the radar Rx data. In one example, the range information and / or Doppler information may be determined based on a Cross-Correlation (XCORR) operation, which may be applied to the radar Rx data. Any other additional or alternative operation, algorithm and / or procedure may be utilized to generate the range information and / or Doppler information. [000197] In some demonstrative aspects, memory 838 may be configured to store AoA information, which may be generated by processor 836, for example, based on the radar Rx data, the range information and / or Doppler information. In one example, the AoA information may be determined based on an AoA estimation algorithm. Any other additional or alternative operation, algorithm and / or procedure may be utilized to generate the AoA information.MBE-P-02777-PC [000198] In some demonstrative aspects, radar processor 834 may be configured to generate the radar information 813 including one or more of range information, Doppler information, and / or AoA information. [000199] In some demonstrative aspects, the radar information 813 may include Point Cloud 1 (PC1) information, for example, including raw point cloud estimations, e.g., Range, Radial Velocity, Azimuth and / or Elevation. [000200] In some demonstrative aspects, the radar information 813 may include additional information, which may be, for example, based on the raw point cloud estimations, and / or may be related to the raw point cloud estimations. [000201] In some demonstrative aspects, the radar information 813 may include metadata information corresponding to the raw point cloud estimations. [000202] In some demonstrative aspects, the radar information 813 may include, for example, information relating to a reliability level of the raw point cloud estimations, information relating to one or more parameters, conditions and / or criteria implemented in determining the raw point cloud estimations, and / or any other suitable additional or alternative information. [000203] For example, the radar information 813 may include Log Likelihood Ratio (LLR) information corresponding to the raw point cloud estimations, Radar Cross Section (RCS) estimation information, SNR estimation information, and / or any other suitable additional or alternative information. [000204] In some demonstrative aspects, the radar information 813 may include Point Cloud 2 (PC2) information, which may be generated, for example, based on the PC1 information. For example, the PC2 information may 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, the PC2 information may be based on one or more temporal filtering techniques, which may be applied to the PC1 information, for example, for temporal filtering of multiple frames and / or multiple PC1 instances. [000205] In some demonstrative aspects, the radar information 813 may include target tracking information corresponding to a plurality of targets in an environment of the radar device 800, e.g., as described below.MBE-P-02777-PC [000206] In some demonstrative aspects, radar processor 834 may be configured to generate the radar information 813 in the form of four Dimensional (4D) image information, e.g., a cube, which may represent 4D information corresponding to one or more detected targets. [000207] In some demonstrative aspects, the 4D image information may include, for example, range values, e.g., based on the range information, velocity values, e.g., based on the 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. [000208] In some demonstrative aspects, radar processor 834 may be configured to generate the radar information 813 in any other form, and / or including any other additional or alternative information. [000209] In some demonstrative aspects, radar processor 834 may be configured to process the signals communicated via 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. [000210] In some demonstrative aspects, radar frontend 804 and / or radar processor 834 may be configured to utilize MIMO techniques, for example, to support a reduced physical array aperture, e.g., an array size, and / or utilizing a reduced number of antenna elements. For example, radar frontend 804 and / or radar processor 834 may be configured to transmit orthogonal signals via one or more Tx arrays 824 including a plurality of N elements, e.g., Tx antennas 814, and processing received signals via one or more Rx arrays 826 including a plurality of M elements, e.g., Rx antennas 816. [000211] In some demonstrative aspects, utilizing the MIMO technique of transmission of the orthogonal signals from the Tx arrays 824 with N elements and processing the received signals in the Rx arrays 826 with M elements may be equivalent, e.g., under a far field approximation, to a radar utilizing transmission from one antenna and reception with N*M antennas. For example, radar frontend 804 and / or radar processor 834 may be configured to utilize MIMO antenna array 881 as a virtual array having an equivalent array size of N*M, which may define locations of virtual elements, for example, as a convolution of locations of physical elements, e.g., the antennas 814 and / or 816.MBE-P-02777-PC [000212] In some demonstrative aspects, a radar system may include a plurality of radar devices 800. For example, vehicle 100 (Fig. 1) may include a plurality of radar devices 800, e.g., as described below. [000213] Reference is made to Fig. 9, which schematically illustrates a radar system 901 including a plurality of Radio Head (RH) radar devices (also referred to as RHs) 910 implemented in a vehicle 900, in accordance with some demonstrative aspects. [000214] In some demonstrative aspects, as shown in Fig. 9, the plurality of RH radar devices 910 may be located, for example, at a plurality of positions around vehicle 900, for example, to provide radar sensing at a large field of view around vehicle 900, e.g., as described below. [000215] In some demonstrative aspects, as shown in Fig. 9, the plurality of RH radar devices 910 may include, for example, six RH radar devices 910, e.g., as described below. [000216] In some demonstrative aspects, the plurality of RH radar devices 910 may be located, for example, at a plurality of positions around vehicle 900, which may be configured to support 360-degrees radar sensing, e.g., a field of view of 360 degrees surrounding the vehicle 900, e.g., as described below. [000217] In one example, the 360-degrees radar sensing may allow to provide a radar- based view of substantially all surroundings around vehicle 900, e.g., as described below. [000218] In other aspects, the plurality of RH radar devices 910 may include any other number of RH radar devices 910, e.g., less than six radar devices or more than six radar devices. [000219] In other aspects, the plurality of RH radar devices 910 may be positioned at any other locations and / or according to any other arrangement, which may support radar sensing at any other field of view around vehicle 900, e.g., 360-degrees radar sensing or radar sensing of any other field of view. [000220] In some demonstrative aspects, as shown in Fig. 9, vehicle 900 may include a first RH radar device 902, e.g., a front RH, at a front-side of vehicle 900.MBE-P-02777-PC [000221] In some demonstrative aspects, as shown in Fig. 9, vehicle 900 may include a second RH radar device 904, e.g., a back RH, at a back-side of vehicle 900. [000222] In some demonstrative aspects, as shown in Fig. 9, vehicle 900 may include one or more of RH radar devices at one or more respective corners of vehicle 900. For example, vehicle 900 may include a first corner RH radar device 912 at a first corner of vehicle 900, a second corner RH radar device 914 at a second corner of vehicle 900, a third corner RH radar device 916 at a third corner of vehicle 900, and / or a fourth corner RH radar device 918 at a fourth corner of vehicle 900. [000223] In some demonstrative aspects, vehicle 900 may include one, some, or all, of the plurality of RH radar devices 910 shown in Fig. 9. For example, vehicle 900 may include the front RH radar device 902 and / or back RH radar device 904. [000224] In other aspects, vehicle 900 may include any other additional or alternative radar devices, for example, at any other additional or alternative positions around vehicle 900. In one example, vehicle 900 may include a side radar, e.g., on a side of vehicle 900. [000225] In some demonstrative aspects, as shown in Fig. 9, vehicle 900 may include a radar system controller 950 configured to control one or more, e.g., some or all, of the RH radar devices 910. [000226] In some demonstrative aspects, at least part of the functionality of radar system controller 950 may be implemented by a dedicated controller, e.g., a dedicated system controller or central controller, 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. [000227] In some demonstrative aspects, at least part of the functionality of radar system controller 950 may be implemented as part of at least one RH radar device 910. [000228] In some demonstrative aspects, at least part of the functionality of radar system controller 950 may be implemented by a radar processor of an RH radar device 910. For example, radar processor 834 (Fig. 8) may include one or more elements of radar system controller 950, and / or may perform one or more operations and / or functionalities of radar system controller 950. [000229] In some demonstrative aspects, at least part of the functionality of radar system controller 950 may be implemented by a system controller of vehicle 900. ForMBE-P-02777-PC example, vehicle controller 108 (Fig. 1) may include one or more elements of radar system controller 950, and / or may perform one or more operations and / or functionalities of radar system controller 950. [000230] In other aspects, one or more functionalities of system controller 950 may be implemented as part of any other element of vehicle 900. [000231] In some demonstrative aspects, as shown in Fig. 9, an RH radar device 910 of the plurality of RH radar devices 910, may include a baseband processor 930 (also referred to as a “Baseband Processing Unit (BPU)”), which may be configured to control communication of radar signals by the RH radar device 910, and / or to process radar signals communicated by the RH radar device 910. For example, baseband processor 930 may include one or more elements of radar processor 834 (Fig.8), and / or may perform one or more operations and / or functionalities of radar processor 834 (Fig. 8). [000232] In other aspects, an RH radar device 910 of the plurality of RH radar devices 910 may exclude one or more, e.g., some or all, functionalities of baseband processor 930. For example, controller 950 may be configured to perform one or more, e.g., some or all, functionalities of the baseband processor 930 for the RH. [000233] In one example, controller 950 may be configured to perform baseband processing for all RH radar devices 910, and all RH radio devices 910 may be implemented without baseband processors 930. [000234] In another example, controller 950 may be configured to perform baseband processing for one or more first RH radar devices 910, and the one or more first RH radio devices 910 may be implemented without baseband processors 930; and / or one or more second RH radar devices 910 may be implemented with one or more functionalities, e.g., some or all functionalities, of baseband processors 930. [000235] In another example, one or more, e.g., some or all, RH radar devices 910 may be implemented with one or more functionalities, e.g., partial functionalities or full functionalities, of baseband processors 930. [000236] In some demonstrative aspects, baseband processor 930 may include one or more components and / or elements configured for digital processing of radar signals communicated by the RH radar device 910, e.g., as described below.MBE-P-02777-PC [000237] In some demonstrative aspects, baseband processor 930 may include one or more FFT engines, matrix multiplication engines, DSP processors, and / or any other additional or alternative baseband, e.g., digital, processing components. [000238] In some demonstrative aspects, as shown in Fig.9, RH radar device 910 may include a memory 932, which may be configured to store data processed by, and / or to be processed by, baseband processor 930. For example, memory 932 may include one or more elements of memory 838 (Fig. 8), and / or may perform one or more operations and / or functionalities of memory 838 (Fig. 8). [000239] In some demonstrative aspects, memory 932 may include an internal memory, and / or an interface to one or more external memories, e.g., an external Double Data Rate (DDR) memory, and / or any other type of memory. [000240] In other aspects, an RH radar device 910 of the plurality of RH radar devices 910 may exclude memory 932. For example, the RH radar device 910 may be configured to provide radar data to controller 950, e.g., in the form of raw radar data. [000241] In some demonstrative aspects, as shown in Fig.9, RH radar device 910 may include one or more RF units, e.g., in the form of one or more RF Integrated Chips (RFICs) 920, which may be configured to communicate radar signals, e.g., as described below. [000242] For example, an RFIC 920 may include one or more elements of front-end 804 (Fig.8), and / or may perform one or more operations and / or functionalities of front- end 804 (Fig. 8). [000243] In some demonstrative aspects, the plurality of RFICs 920 may be operable to form a radar antenna array including one or more Tx antenna arrays and one or more Rx antenna arrays. [000244] For example, the plurality of RFICs 920 may be operable to form MIMO radar antenna 881 (Fig. 8) including Tx arrays 824 (Fig. 8), and / or Rx arrays 826 (Fig. 8). [000245] In some demonstrative aspects, the plurality of RFICs 920 may be operable to form a MIMO radar antenna, for example, including one or more Tx antenna arrays and one or more Rx antenna arrays.MBE-P-02777-PC [000246] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-9, may be configured to implement radar communications according to a MIMO scheme utilizing a MIMO radar antenna, e.g., as described below. [000247] For example, radar antenna 881 (Fig.8) may include a MIMO radar antenna, which may include one or more Tx arrays 824 (Fig. 8), and one or more Rx arrays 826 (Fig. 8). [000248] In some demonstrative aspects, the MIMO radar antenna may be implemented for communication of radar signals according to a MIMO scheme, e.g., as described below. [000249] For example, in a beamforming system, e.g., without loss of generativity, assuming a system including a single transmitter and multiple receivers, e.g., a Single Input Multiple Output (SIMO) system, a number of Rx antennas may be doubled, for example, in order to double an angular resolution of the SIMO system, e.g., to achieve a half resolution bin. For example, in a MIMO system, the same result may be achieved, for example, with a double number of Tx antennas. [000250] Reference is made to Fig.10, which schematically illustrates signals of a 2x4 MIMO antenna array 1000, which may be implemented in accordance with some demonstrative aspects. [000251] For example, MIMO radar antenna 881 (Fig. 8) may include one or more elements of 2x4 MIMO antenna array 1000, and / or may perform the functionality of 2x4 MIMO antenna array 1000. [000252] For example, as shown in Fig. 10, the 2x4 MIMO antenna array 1000 may include two Tx antennas 1032, for example, including a first Tx antenna 1032, denoted Tx1, and a second Tx antenna 1032, denoted Tx2. [000253] For example, as shown in Fig. 10, the 2x4 MIMO antenna array 1000 may include four Rx antennas 1034. [000254] For example, in the 2x4 MIMO system 1000, a first transmission from the first antenna Tx1 may result in a first set of phases of [0 ω 2ω 3ω] at the four Rx antennas 1034, respectively, e.g., with a first Rx antenna 1034 serving as a reference.MBE-P-02777-PC [000255] For example, in the 2x4 MIMO system 1000, a second transmission from the second antenna Tx2 may result in a second set of phases of [4ω 5ω 6ω 7ω] at the four Rx antennas 1034, respectively, e.g., with the first Rx antenna 1034 serving as a reference. [000256] For example, the second Tx antenna Tx2 may be placed at a distance of 4d from the first Tx antenna Tx1, e.g., wherein d denotes a distance between consecutive Rx antennas 1034. According to this example, a signal, e.g., any signal, emanating from the second Tx antenna Tx2 may traverse an additional path having a length 4dsin(θ), e.g., compared to a signal from the first antenna Tx1. Correspondingly, a signal at an Rx antenna 1034, e.g., a signal at each Rx antenna 1034, may see an additional phase- shift of 4ω, for example, with regard to a signal from the first antenna Tx1 received at the same Rx antenna 1034. [000257] For example, the phase of the signal at the four Rx antennas 1034, e.g., due to the second transmission from the second antenna Tx2, may be represented by the set of phases [4ω 5ω 6ω 7ω]. [000258] For example, concatenating the phase sequences at the four Rx antennas 1034, e.g., corresponding to transmissions from the first antenna Tx1 and the second antenna Tx2, may result in a sequence of phases [0 ω 2ω 3ω 4ω 5ω 6ω 7ω]. [000259] For example, the sequence of phases [0 ω 2ω 3ω 4ω 5ω 6ω 7ω] may be the same as a sequence of phases seen by a 1x8 SIMO system. [000260] For example, it can be said that the 2x4 MIMO system 1000 may synthesize a virtual array of eight Rx antennas and one Tx antenna implied. [000261] For example, with an antenna array including NTx transmit antennas and NRx receive antennas, one can generate, e.g., while utilizing proper antenna placement, a virtual antenna array of NTx x NRx virtual antennas. [000262] For example, MIMO radar techniques may be employed, for example, to provide a technical solution to support an increase, e.g., a multiplicative increase, in a number of virtual antennas. [000263] For example, the increased number of virtual antennas may be implemented to provide a technical solution to support an improvement in an angular resolution.MBE-P-02777-PC [000264] For example, using ^^to denote coordinates of an m-th Tx antenna (m = 0, 1, ...NTx), and using ^^to denote coordinates of an n-th Rx antenna (n = 0, 1, 2, …NRx), a location of a virtual antenna, based on the m-th Tx antenna and the n-th Rx antenna, may be computed as ^^+ ^^, e.g., for all possible values of m and n. [000265] For example, the locations of the virtual antennas may be represented in a compact form, e.g., as follows: ^ = ^ ⊗ ^ wherein ^ denotes coordinates of the elements in the virtual array, which is a result of a convolution of coordinates of the m-th Tx and the n-th Rx array elements. [000266] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-10, may be configured to implement a radar antenna array, e.g., a MIMO radar antenna array, which may be configured to provide a virtual array (also referred to as “overlapped virtual antenna array”) having an overlapped virtual array geometry, e.g., as described below. [000267] In some demonstrative aspects, the overlapped virtual antenna array may be configured to provide a technical solution to support improved multi-path mitigation and / or one or more additional or alternative technical benefits. [000268] Reference is made to Fig. 11, which schematically illustrates an antenna array (“physical antenna array”) 1130 and an overlapped virtual antenna array 1170 based on the antenna array 1130, which may be implemented in accordance with some demonstrative aspects. [000269] For example, MIMO radar antenna 881 (Fig. 8) may include one or more elements of antenna array 1130, and / or may perform the functionality of antenna array 1130. [000270] As shown in Fig. 11, antenna array 1130 may include a 2x5 MIMO antenna array. [000271] For example, as shown in Fig. 11, antenna array 1130 may include five Rx antennas 1134 arranged along an Rx array, and two Tx antennas 1132, e.g., including a first Tx antenna (1) and a second Tx antenna (2).MBE-P-02777-PC [000272] For example, as shown in Fig.11, a distance between the first Tx antenna (1) and the second Tx antenna (2) may be shorter than a length of the Rx array. [000273] In other aspects, antenna array 1130 may include any other count of Tx antenna elements, any other count of Rx antenna elements, and / or any other arrangement of the Tx antenna elements and / or the Rx antenna elements. [000274] In some demonstrative aspects, overlapped virtual antenna array 1170 may include one or more sets 1172 of overlapped virtual antennas (antenna elements), which may have substantially overlapping locations. [000275] For example, as shown in Fig. 11, virtual antenna array 1170 may include three sets 1172 of overlapped virtual antennas. [000276] For example, a set 1172 of overlapped virtual antennas may include a plurality of substantially overlapping virtual antennas, e.g., at substantially a same virtual location. [000277] For example, a set 1172 of overlapped antennas may include a first virtual antenna, which may be based on a combination of the first Tx antenna (1) and a first Rx antenna 1134, and a second virtual antenna, which may be based on a combination of the second Tx antenna (2) and a second Rx antenna 1134. [000278] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a configurable beamforming mechanism, e.g., as described below. [000279] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a Configurable Beamforming MIMO (CBFM) modulation mechanism, e.g., as described below. [000280] For example, in a MIMO system, it may be assumed that a transmission from each transmitter may be separable at the receiver. [000281] In one example, a Time Division Multiplexing (TDM) scheme and / or a TDM waveform may be configured to achieve orthogonality, for example, by full separation in a time domain, e.g., as described below.MBE-P-02777-PC [000282] In another example, a Frequency Division Multiplexing (FDM) scheme and / or an FDM waveform may be configured to achieve orthogonality, for example, by full separation in a frequency domain, e.g., as described below. [000283] For example, the TDM scheme and / or the FDM scheme may result in an inefficient usage of time and / or frequency resources, and hence may impractical for some use cases and / or implementations, for example, for automotive MIMO radars with many transmitters. [000284] In some demonstrative aspects, for example, in some use cases, scenarios, and / or implementations, there may be a need to address one or more technical issues of a TDM MIMO waveform scheme. [000285] For example, implementation of a TDM scheme for a MIMO radar with many transmitter antennas may suffer from a long Pulse Repetition Interval (PRI) and / or a low Equivalent Isotropically Radiated Power (EIRP), e.g., because only one antenna may be activated at a time per the TDM scheme. [000286] For example, due to the long PRI, the MIMO radar may be severely limited in a link budget, e.g., due to an EIRP limit, a very low maximum unambiguous velocity, an irreducible range migration issue, and / or the like. [000287] For example, the long PRI may introduce motion induced phase rotation, which may need to be compensated, and / or may create irreducible phase ambiguity in a MIMO array, for example, if a target is moving fast enough. [000288] In some demonstrative aspects, for example, in some use cases, scenarios, and / or implementations, there may be a need to address one or more technical issues of an FDM MIMO waveform scheme. [000289] For example, the FDM scheme may suffer from a large frequency band usage, for example, to support many transmitter antennas, and / or may require an unreasonably high ADC sampling rate. [000290] For example, the FDM scheme may create a range-induced phase offset at each transmitter antenna, which may need to be compensated, e.g., before spatial processing. For example, the range-induced phase offset may increase, for example, in case of a massive MIMO antenna, e.g., which contains many Tx antennas.MBE-P-02777-PC [000291] For example, in a MIMO system, e.g., the 2x4 MIMO antenna array 1000 (Fig.10), it may be assumed that a transmission from each transmitter may be separable at the receiver. [000292] For example, the MIMO system may achieve M*N degrees of freedom, for example, with only M transmitter antennas and N receiver antennas. [000293] For example, in a beamforming radar, only M+N degrees of freedom may be achieved with the same number of M transmitters and N receivers. [000294] For example, separation of the transmissions from the transmit antennas may be achieved at the receiver, for example, through certain orthogonal multiplexing techniques such as TDM, FDM, and / or Code Division Multiplexing (CDM). [000295] For example, a TDM waveform may achieve the orthogonality in time the domain, for example, by full separation in time. [000296] For example, an FDM waveform may achieve the orthogonality in the frequency domain, for example, by full separation in frequency. [000297] For example, in order to achieve full time-frequency domain orthogonality in an FMCW Radar system, each transmitter of the FMCW radar system has to use a non-overlapping time interval or frequency band. [000298] For example, the use of the FDM waveform or the TDM waveform may result in an inefficient usage of time resources and / or frequency resources. [000299] For example, the use of the FDM waveform or the TDM waveform may result in an inflexible tradeoff between Radar Key Performance Indicator (KPI) specifications and design parameters, which may make usage of the FDM waveform or the TDM waveform impractical, for example, for a MIMO system with many transmitters. [000300] Reference is made to Fig.12A, which schematically illustrates a TDM Linear Frequency Modulated (TDM-LFM) waveform 1210, and to Fig. 12B, which schematically illustrates an FDM-LFM Waveform 1220, which may be implemented in accordance with some demonstrative aspects. [000301] For example, each line in Fig. 12A may represent a single transmitter of the TDM-LFM waveform 1210.MBE-P-02777-PC [000302] For example, each line in Fig. 12B may represent a single transmitter of the FDM-LFM waveform 1220. [000303] For example, as shown in Fig. 12A, TDM-LFM waveform 1210 may result in an inefficient usage of time resources, for example, as each transmitter may use a non-overlapping time interval. [000304] For example, as shown in Fig. 12B, FDM-LFM waveform 1220 may result in an inefficient usage of frequency resources, for example, as each transmitter may use a non-overlapping frequency band. [000305] For example, assuming a linear (mis-)matched filter receiver is to be used, a separation of a transmitted signal may be guaranteed, for example, when the following condition is satisfied, for example, for all possible channel realizations: for $ = %otheriwse( 1 ) [000306] For example, a radar response ℎ^^^ may be represented as an aggregation of a channel response of L targets with some complex channel gain, e.g., as follows: ℎ+^^^= ,+-^^ − / +^^^ [000307] For example, the Equation 1 may be rewritten, e.g., as follows:[000308] For example, matched filtering may be applied, e.g., as follows:MBE-P-02777-PC [000309] For example, orthogonality between transmissions may be guaranteed, for example, by introducing time delays, e.g., between TDM-LFM transmissions, and / or frequency shifts, e.g., between FDM-LFM transmissions, for example, with respect to a reference transmission:[000310] For example, orthogonality between transmissions may be guaranteed, for example, by introducing time delays to a TDM waveform, for example, TDM-LFM waveform 1210, e.g., as follows:[000311] For example, orthogonality between transmissions may be guaranteed, for example, by introducing frequency shifts to an FDM waveform, for example, FDM- LFM waveform 1220, e.g., as follows:[000312] For example, it may be verified that:for example, by defining M^ / ^ for the LFM waveform, e.g., as follows:[000313] For example, for an FDM signal and / or a TDM signal, the second condition may be achieved, for example, based on the following fact:[000314] For example, although orthogonality, e.g., separation, may be achieved for TDM-LFM waveform 1210 and / or FDM-LFM waveform 1220 the time-frequency resources may be utilized inefficiently.MBE-P-02777-PC [000315] For example, a major drawback of a TDM waveform may be a trade-off between a maximum ambiguous velocity, denoted W^XY, which may be based on a Pulse Repetition Interval (PRI), e.g., W^XY= ^⁄ 4[\] , and a maximum detected range of a radar system, for example, when there are many antennas, e.g., as follows: Max Velocity Max Range Max Delay Number of Tx Antennas 1 2 4 8 16 24 32 50 0.33 50.60 25.30 12.65 6.32 3.16 2.11 1.58 100 0.67 50.60 25.30 12.65 6.32 3.16 2.11 1.58 150 1.00 50.60 25.30 12.65 6.32 3.16 2.11 1.58 200 1.33 50.60 25.30 12.65 6.32 3.16 2.11 1.58 250 1.67 50.60 25.30 12.65 6.32 3.16 2.11 1.58 300 2.00 50.60 25.30 12.65 6.32 3.16 2.11 1.58 Table (1) [000316] For example, the values of Table 1 may be based on a PRI duration which may be about 18.75 microseconds (us). [000317] For example, as shown in Table 1, the maximum ambiguous velocity W^XYmay reduce, for example, as the number of antenna elements of the radar system increases. [000318] In some demonstrative aspects, for example, in some use cases, scenarios, and / or implementations, implementation of a Phase Coding Modulation (PCM) scheme, e.g., a slow-time PCM scheme, may not be sufficient to address the technical issues of the FDM and / or TDM schemes, e.g., as described below. [000319] For example, a PCM scheme may allocate different antennas using non- overlapping frequency-time resources, for example, to achieve separability at the receiver.MBE-P-02777-PC [000320] For example, additional slow-time PCM may be added, for example, to improve a link budget, e.g., by allowing multiple transmit antennas to be active at the same time. [000321] For example, the introducing of PCM may partially alleviate the low EIRP problem in the TDM scheme. However, the PCM scheme may still suffer from other issues, such as crosstalk between phase codes, which may increase a noise floor and / or limit a number of antennas that can be used. [000322] In some demonstrative aspects, for example, in some use cases, scenarios, and / or implementations, implementation of a PMCW scheme and / or an OFDM scheme may not be sufficient to address the technical issues of the FDM and / or TDM schemes, e.g., as described below. [000323] For example, the PMCW modulation and / or the OFDM modulation may require high peak to average transmitters, which may impact noise budget. [000324] For example, it may be difficult to find sufficiently orthogonal signals for a large number of transmitters, e.g., for fast moving targets that introduce a high Doppler shift. [000325] In some demonstrative aspects, for example, in some use cases, scenarios, and / or implementations, implementation of Doppler Division Multiplexing Access (DDMA) modulations may not be sufficient to address the technical issues of the FDM and / or TDM schemes, e.g., as described below. [000326] For example, the DDMA modulations may be limited to a small number of transmitters, e.g., based on the Doppler domain, which may be non-scalable. For example, the DDMA modulations may require more complex front-ends to inject the Doppler offsets on the chirps, and / or may have limited Doppler sidelobe levels. [000327] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a hybrid beamforming-MIMO scheme, which may be configured to provide a technical solution to support one or more relatively flexible system trade off options, e.g., as described below. [000328] For example, the hybrid beamforming-MIMO scheme may be configured to provide a technical solution to support a significantly higher unambiguous velocityMBE-P-02777-PC versus elevation Field of View (FOV), and / or a scalable resolution and / or energy concentration in elevation, e.g., as described below. [000329] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a hybrid beamforming-MIMO scheme, which may be configured to provide a technical solution to support an improved system robustness. [000330] For example, some automotive MIMO radars may use a relatively long Pulse Repetition Interval (PRI), which may possibly result in an ambiguous radial velocity. This ambiguity may prevent correct phase compensation, which may be required for Angle of Arrival (AoA) estimation, and / or range migration compensation, and / or may lead to miss-detection, e.g., in a dense environment. [000331] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a hybrid beamforming-MIMO scheme, which may be configured to provide a technical solution to use a relatively short, e.g., a very short, template, which may dramatically reduce a computation power of a cross correlation process and / or may reduce a silicon size and / or cost, e.g., as described below. [000332] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a hybrid beamforming-MIMO scheme, which may be configured to utilize a scrambling sequence, e.g., a relatively long Slow Time Coding (STC) scrambling sequence, e.g., in phase and / or in gain. For example, the scrambling sequence may be configured to provide a technical solution to support mitigation of range ambiguity and / or interference, e.g., as described below. [000333] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a hybrid beamforming-MIMO scheme, which may utilize a virtual overlapped antenna array, for example, to provide a technical solution to support mitigation of multipath, which may cause high side lobes, for example, when an Angle of Departure (AoD) is not equal to an AoA, e.g., as described below.MBE-P-02777-PC [000334] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a hybrid beamforming-MIMO scheme, which may utilize a combination of Beamforming (BF) in a first dimension, e.g., in an elevation dimension, and MIMO in a second dimension, e.g., an azimuth dimension, e.g., as described below. [000335] In some demonstrative aspects, the hybrid beamforming-MIMO scheme may be configured to utilize a BF transmission scheme, which may be configured to provide a technical solution to support BF in the first dimension, e.g., as described below. [000336] In some demonstrative aspects, the hybrid beamforming-MIMO scheme may be configured to utilize a MIMO scheme, which may be configured to provide a technical solution to support MIMO processing in the second dimension, e.g., as described below. [000337] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a BF transmission scheme, which may be based on a combination of vertical beamformed transmissions, which may be performed, for example, using a combination of vertical Tx columns, e.g., as described below. [000338] In some demonstrative aspects, the combination of vertical BF transmissions may be performed, for example, using a vertical Tx columns of evenly spaced transmitters, e.g., as described below. [000339] In some demonstrative aspects, the combination of vertical BF transmissions may be performed, for example, with Tx precoding between the different Tx columns that construct a horizontal Virtual-Array (VA), e.g., as described below. [000340] In some demonstrative aspects, the combination of the vertical BF with the horizontal Tx precoding may provide a technical solution, for example, to support straightforward separation between different Tx columns at a receiver side, e.g., as described below. [000341] In some demonstrative aspects, the combination of the vertical BF with the horizontal Tx precoding may provide a technical solution, for example, to reconstruct a full VA, for example, after all the Tx elements in the horizontal dimension are separated, e.g., per column.MBE-P-02777-PC [000342] In some demonstrative aspects, the vertical BF may be implemented, for example, to provide a technical solution to support removal of the vertical dimension from a VA reconstruct of the VA. [000343] For example, the vertical dimension may be scanned, for example, using several transmission intervals (also referred to as “intervals”). In one example, a transmission interval, e.g., each transmission interval, may focus the beam forming to a different angle, e.g., as described below. [000344] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a transmission scheme, which may be coupled to a special array structure, which may be configured to provide a technical solution to support both vertical BF and Multipath (MP) mitigation, for example, while range and / or Doppler may be extracted, for example, using traditional schemes, e.g., as described below. [000345] In some demonstrative aspects, a super resolution algorithm may be applied, e.g., in a last processing stage. [000346] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs.1-11, may be configured to implement one or more operations and / or functionalities of a BF transmission scheme, which may be configured to provide a technical solution to support an improved maximum ambiguous velocity W^XY, e.g., an improved native maximal supported velocity, for example, by using short pulses, for example, while achieving high spatial resolution, e.g., as described below. [000347] For example, the BF transmission scheme may be configured to provide a technical solution to support reduced Doppler ambiguity complexity and / or reduced frame time, e.g., to save power. [000348] In some demonstrative aspects, the BF transmission scheme may be configured to provide a technical solution to support an improved Signal to Noise Ratio (SNR). For example, the BF transmission scheme may support beam forming focused energy, which may coherently increase the SNR, e.g., compared to TDM based schemes.MBE-P-02777-PC [000349] In some demonstrative aspects, the BF transmission scheme may be configured to provide a technical solution to support a reduced baseband computational complexity, e.g., as described below. [000350] For example, the BF transmission scheme may support use of short chirps, which may support using small filters for Cross Correlation (XCORR) digital processing. [000351] In some demonstrative aspects, the BF transmission scheme may be configured to provide a technical solution to support scalability, e.g., as described below. [000352] In some demonstrative aspects, the BF transmission scheme may be configured to provide a technical solution to support an ability to scan elevation more accurately and / or dynamically, e.g., as described below. [000353] For example, the ability to scan elevation more accurately and / or dynamically for example, based on one or more road conditions, may be utilized to save on compute resources and / or power. [000354] In some demonstrative aspects, the BF transmission scheme may be configured to provide a technical solution to support interference mitigation, e.g., as described below. [000355] For example, the BF transmission scheme may be configured to support a long STC sequence, e.g., up to 1024 values or any other count of values, which may provide interference rejection, e.g., of more than 30dB. [000356] In some demonstrative aspects, the BF transmission scheme may be configured to provide a technical solution to support a scalable elevation-dependent Doppler resolution, e.g., as described below. [000357] For example, the BF transmission scheme may be configured to support use of a different number of pulses per elevation, e.g., for each elevation, for example, to support a high Doppler resolution. For example, the high Doppler resolution may be used, e.g., in elevations of interest, and / or a low Doppler resolution (ambiguity) may be used, e.g., in less interesting elevations.MBE-P-02777-PC [000358] In some demonstrative aspects, the BF transmission scheme may be configured to provide a technical solution to support MP mitigation, for example, using an overlapped VA, e.g., as described below. [000359] In some demonstrative aspects, implementation of the BF transmission scheme described herein may affect, for example, a transmit waveform captured by a receiver setup, for example, in an anechoic chamber, which may be visualized, for example, in an oscilloscope / spectroscope. [000360] In some demonstrative aspects, implementation of the BF transmission scheme described herein may be implemented, for example, using vertical beamforming with relatively short, e.g., very short, pulses, and a horizontal Rx array, e.g., as described below. [000361] In some demonstrative aspects, the BF transmission scheme described herein may be implemented, for example, using an overlapped virtual array, e.g., overlapped virtual antenna array 1170 (Fig. 11). [000362] In some demonstrative aspects, the BF transmission scheme described herein may be implemented, for example, using a non-overlapped virtual array. In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-11, may be configured to support a compact form of a TDM waveform and / or an FDM waveform for MIMO radar and / or corresponding signal processing algorithms, e.g., as described below. [000363] In some demonstrative aspects, a radar device, e.g., as described above with reference to Figs. 1-11, may be configured to utilize a Configurable Beam Forming MIMO modulation (CBFM), e.g., as described below. [000364] In some demonstrative aspects, the CBFM may be implemented with a VA scheme for a MIMO configuration, e.g., as described below. [000365] In some demonstrative aspects, the CBFM may be configured, for example, based on different processing between the azimuth and elevation dimensions in the AoA estimation, e.g., as described below. [000366] In some demonstrative aspects, the CBFM may be configured, for example, to utilize an antenna array format, for example, to resolve the Elevation AoA estimation with the Tx pattern, e.g., as described below.MBE-P-02777-PC [000367] In some demonstrative aspects, the elevation AoA estimation may be resolved with the Tx pattern, for example, using beamforming techniques, e.g., as described below. [000368] For example, the antenna array format may be configured according to a shape, which may support the use beamforming at the Tx antennas, for example, to transmit to a predefined angle in the elevation dimension. For example, configuring the Tx antennas to perform the beam forming to the predefined angle in the elevation dimension may provide a technical solution to reduce, or even exclude, the elevation dimension from an AoA baseband computation. Accordingly, configuring the Tx antennas to perform the beam forming to the predefined angle in the elevation dimension may provide a technical solution to more efficiently utilize the AoA baseband computation for Azimuth resolution. [000369] In some demonstrative aspects, the antenna array format may include an arrangement of Tx elements, which may be ordered in a plurality of columns, groups, or sub-arrays. [000370] For example, the antenna array may be configured to include two columns of Tx antennas, e.g., optionally spaced with uniform array spacing, for example, to provide a technical solution to support beam forming in the elevation dimension. [000371] In some demonstrative aspects, the elevation AoA estimation may be resolved with the Tx pattern, for example, using physical beamforming, e.g., as described below. [000372] For example, a Hardware (HW) beamforming technique may be used to beamform the elevation scheme. For example, the HW beamforming technique may be implemented with beamforming elements, e.g., special lens materials, and / or special antennas with large aperture, which may be designed for a specific angle. For example, several beamforming elements may be arranged in parallel, for example, to scan some angles in the elevation dimension. [000373] It is noted that the beamforming mechanisms described herein may be implemented with various antenna configurations and may not be limited to a specific antenna configuration. For example, the beamforming mechanisms described herein may utilize an ability to resolve the elevation resolution in the Tx transmitted patternMBE-P-02777-PC itself, and / or having all the transmitters grouped into one or more groups, e.g., 1, 2, 4 groups, or scalable for more groups / columns. [000374] Reference is made to Fig. 13, which schematically illustrates a system 1300, in accordance with some demonstrative aspects. [000375] In some demonstrative aspects, one or more elements of the system 1200 may be implemented by a radar device, e.g., radar device 800 (Fig. 8) or radar device 910 (Fig. 9), and / or a radar system, e.g., radar system 901 (Fig. 9). [000376] In some demonstrative aspects, one or more elements of system 1300 may be configured to implement one or more operations and / or functionalities according to a hybrid beamforming-MIMO scheme, e.g., as described below. [000377] In some demonstrative aspects, one or more elements of system 1300 may be configured to implement one or more operations and / or functionalities according to a hybrid beamforming-MIMO scheme, which may be based on a combination of a vertical BF with horizontal MIMO processing, e.g., as described below. [000378] In some demonstrative aspects, one or more elements of system 1300 may be configured to implement one or more operations and / or functionalities according to a MIMO radar modulation scheme, which may be based on vertical BF, e.g., as described below. [000379] In some demonstrative aspects, one or more elements of system 1300 may be configured to implement one or more operations and / or functionalities according to a MIMO radar modulation scheme, which may be based on a combination of a vertical BF with Tx precoding, e.g., as described below. [000380] In some demonstrative aspects, system 1300 may include an antenna array 1310, e.g., as described below. For example, MIMO antenna array 881 (Fig. 8) may include one or more elements of antenna array 1310, and / or may perform one or more operations and / or functionalities of antenna array 1310. [000381] In some demonstrative aspects, as shown in Fig.13, antenna array 1310 may include a Tx antenna array 1312, which may be configured to transmit radar Tx signals 1303, e.g., as described below.MBE-P-02777-PC [000382] In some demonstrative aspects, radar Tx signals 1303 may be in a frequency band above 40GHz, e.g., as described below. [000383] In some demonstrative aspects, radar Tx signals 1303 may be in a frequency bandwidth of 76-81 GHz, e.g., as described below. [000384] In other aspects, radar Tx signals 1303 may include signals in any other suitable frequency bandwidth. [000385] In some demonstrative aspects, as shown in Fig.13, antenna array 1310 may include an Rx antenna array 1322, which may be configured to receive radar Rx signals 1307, for example, based on the radar Tx signals 1303, e.g., as described below. [000386] In some demonstrative aspects, as shown in Fig. 13, system 1300 may include a radar processor 1330, e.g., as described below. [000387] In some demonstrative aspects, radar processor 1330 may be implemented, for example, as part of a radar device, e.g., a radar device 910 (Fig. 9). [000388] In some demonstrative aspects, radar processor 1330 may be implemented, for example, as part of a radar processor, e.g., radar processor 834 (Fig. 8), and / or BB processor 930 (Fig 9). [000389] For example, radar processor 834 (Fig.8) may include one or more elements of radar processor 1330, and / or may perform one or more operations and / or functionalities of radar processor 1330. [000390] In some demonstrative aspects, radar processor 1330 may include a radar data processor 1334. For example, radar processor 834 (Fig. 8) may include one or more elements of radar data processor 1334, and / or may perform one or more operations and / or functionalities of radar data processor 1334; and / or BB processor 930 (Fig. 9) may include one or more elements of radar data processor 1334, and / or may perform one or more operations and / or functionalities of radar data processor 1334. [000391] In some demonstrative aspects, radar data processor 1334 may include, or may be implemented, partially or entirely, by circuitry and / or logic, e.g., one or more processors including circuitry and / or logic, memory circuitry and / or logic. Additionally or alternatively, one or more functionalities of radar data processor 1334 may beMBE-P-02777-PC implemented by logic, which may be executed by a machine and / or one or more processors, e.g., as described below. [000392] In other aspects, radar data processor 1334 may be implemented as part of any other, dedicated, or non-dedicated, element of a radar device, e.g., radar device 800 (Fig. 8) or radar device 910 (Fig. 9), and / or a radar system, e.g., radar system 901 (Fig. 9). [000393] In some demonstrative aspects, radar data processor 1334 may be configured to process radar Rx data 1335, e.g., as described below. [000394] In some demonstrative aspects, the radar Rx data 1335 may be based, for example, on the radar Rx signals 1307 received by Rx antenna array 1322, for example, based on the radar Tx signals 1303. [000395] In some demonstrative aspects, radar data processor 1334 may be configured to generate radar information 1337, for example, based on the radar Rx signals 1307, e.g., as described below. [000396] In some demonstrative aspects, radar data processor 1334 may be configured to generate the radar information 1337, for example, based on the radar Rx data 1335, e.g., as described below. [000397] In some demonstrative aspects, radar processor 1330 may include a radar controller 1332. For example, radar processor 834 (Fig. 8) may include one or more elements of radar controller 1332, and / or may perform one or more operations and / or functionalities of radar controller 1332; and / or BB processor 930 (Fig. 9) may include one or more elements of radar controller 1332, and / or may perform one or more operations and / or functionalities of radar controller 1332. [000398] In some demonstrative aspects, radar controller 1332 may include, or may be implemented, partially or entirely, by circuitry and / or logic, e.g., one or more processors including circuitry and / or logic, memory circuitry and / or logic. Additionally or alternatively, one or more functionalities of radar controller 1332 may be implemented by logic, which may be executed by a machine and / or one or more processors, e.g., as described below. [000399] In other aspects, radar controller 1332 may be implemented as part of any other, dedicated, or non-dedicated, element of a radar device, e.g., radar device 800MBE-P-02777-PC (Fig.8) or radar device 910 (Fig.9), and / or a radar system, e.g., radar system 901 (Fig. 9). [000400] In some demonstrative aspects, radar controller 1332 may be configured to generate control signals 1305, for example, to control transmission of radar Tx signals 1303 via Tx antenna array 1312, for example, according to a Beamforming (BF) transmission scheme 1340, e.g., as described below. [000401] In some demonstrative aspects, the BF transmission scheme 1340 may include a sequence of transmission intervals 1341, e.g., as described below. [000402] In some demonstrative aspects, a transmission interval sequence of transmission intervals 1341, e.g., a transmission interval 1342, may include at least one beam transmission 1344 via one or more Tx antenna sub-arrays 1314 (also referred to as “Tx columns”, or “Tx groups”) of the Tx antenna array 1312, e.g., as described below. [000403] In some demonstrative aspects, a Tx antenna sub-array 1314 of the one or more Tx antenna sub-arrays 1314 may include a plurality of Tx antennas 1317 along a predefined Tx sub-array direction 1315, e.g., as described below. [000404] In some demonstrative aspects, the sequence of transmission intervals 1341 may correspond to a respective sequence of Tx angles, for example, along the predefined Tx sub-array direction 1315, e.g., as described below. [000405] In some demonstrative aspects, a beam transmission 1344 in a transmission interval 1342 corresponding to a Tx angle may include one or more BF transmissions 1347 from the one or more Tx antenna sub-arrays 1314, e.g., as described below. [000406] In some demonstrative aspects, the one or more BF transmissions 1347 in the transmission interval 1342 may be beamformed, for example, based on the Tx angle corresponding to the transmission interval 1342, e.g., as described below. [000407] In some demonstrative aspects, radar processor 1330 may include an output 1336 to provide the control signals 1305, for example, to be provided to the Tx antenna array 1312, e.g., as described below. [000408] In some demonstrative aspects, output 1336 may include any suitable output interface, output unit, output module, output component, output circuitry, memoryMBE-P-02777-PC interface, memory access unit, memory writer, digital memory unit, bus interface, processor interface, or the like, which may be capable of outputting the control signals 1305 to a memory, a processor, and / or any other suitable component to handle the control signals 1305. [000409] In some demonstrative aspects, radar data processor 1334 may be configured to process the radar Rx data 1335, for example, based on an arrangement of the Rx antenna array 1322 including a plurality of Rx antennas 1327 along a predefined Rx array direction 1325, e.g., as described below. [000410] In some demonstrative aspects, the predefined Rx array direction 1325 may be perpendicular to the Tx sub-array direction 1315, e.g., as described below. [000411] In some demonstrative aspects, radar data processor 1334 may be configured to process the radar Rx data 1335, for example, according to a MIMO processing scheme, which may be applied, for example, over a plurality of angles along the predefined Rx array direction 1325, e.g., as described below. [000412] In some demonstrative aspects, the predefined Tx sub-array direction 1315 may include an elevation direction, e.g., as described below. [000413] In some demonstrative aspects, the predefined Rx array direction 1325 may include an azimuth direction, e.g., as described below. [000414] In other aspects, the predefined Tx sub-array direction 1315 may include the azimuth direction or any other direction, and the predefined Rx array direction 1325 may include the elevation direction or any other direction. [000415] In some demonstrative aspects, the one or more Tx antenna sub-arrays 1314 may include one or more Tx antenna sub-array vertical columns, e.g., as described below. [000416] In one example, the one or more Tx antenna sub-arrays 1314 may include a single Tx antenna sub-array vertical column. [000417] In another example, the one or more Tx antenna sub-arrays 1314 may include two, e.g., substantially parallel, Tx antenna sub-array vertical columns. [000418] In another example, the one or more Tx antenna sub-arrays 1314 may include three or four, e.g., substantially parallel, Tx antenna sub-array vertical columns.MBE-P-02777-PC [000419] In other aspects, the one or more Tx antenna sub-arrays 1314 may include any other suitable number and / or arrangement of Tx antenna sub-array vertical columns. [000420] In some demonstrative aspects, the Rx antenna array 1322 may include an Rx antenna horizontal row, e.g., as described below. [000421] In one example, the Rx antenna array 1322 may include a single Rx antenna horizontal row. [000422] In another example, the Rx antenna array 1322 may include two, e.g., substantially parallel, Rx antenna horizontal rows. [000423] In another example, the Rx antenna array 1322 may include three or four, e.g., substantially parallel, Rx antenna horizontal rows. [000424] In other aspects, the Rx antenna array 1322 may include any other suitable number and / or arrangement of Rx antenna horizontal rows. [000425] In some demonstrative aspects, the one or more Tx antenna sub-arrays 1314 may include one or more Tx antenna sub-array vertical columns, and the Rx antenna array 1322 may include one or more Rx antenna horizontal rows, e.g., as described above. [000426] In other aspects, the one or more Tx antenna sub-arrays 1314 may include one or more Tx antenna sub-array horizontal rows, and the Rx antenna array 1322 may include one or more Rx antenna vertical columns. [000427] In other aspects, the one or more Tx antenna sub-arrays 1314 and the Rx antenna array 1322 may be arranged according to any other suitable pattern, scheme, and / or arrangement. [000428] In some demonstrative aspects, radar controller 1332 may be configured to control a duration of a PRI of the sequence of transmission intervals 1341, e.g., as described below. [000429] In some demonstrative aspects, radar controller 1332 may be configured to control the duration of the PRI of the sequence of transmission intervals 1341, for example, independent of a count of Tx antennas in the Tx antenna array 1312, e.g., as described below.MBE-P-02777-PC [000430] In some demonstrative aspects, radar controller 1332 may be configured to control a duration of the beam transmission 1344, e.g., as described below. [000431] In some demonstrative aspects, radar controller 1332 may be configured to control the duration of the beam transmission 1344 to be less than 2 microseconds (us), e.g., as described below. [000432] In some demonstrative aspects, radar controller 1332 may be configured to control the duration of the beam transmission 1344 to be less than 1us, e.g., as described below. [000433] In some demonstrative aspects, radar controller 1332 may be configured to control the duration of the beam transmission 1344 to be less than 0.5us, e.g., as described below. [000434] In other aspects, any other duration of the beam transmission 1344 may be implemented. [000435] In some demonstrative aspects, radar controller 1332 may be configured to set a configuration of the BF transmission scheme 1340, e.g., as described below. [000436] In some demonstrative aspects, radar controller 1332 may be configured to set the configuration of the BF transmission scheme 1340, for example, to support a maximal (max) unambiguous Doppler level, e.g., as described below. [000437] In some demonstrative aspects, radar controller 1332 may be configured to set the configuration of the BF transmission scheme 1340, for example, to support the max unambiguous Doppler level, for example, independent of a count of Tx antennas in the Tx antenna array 1312, e.g., as described below. [000438] In some demonstrative aspects, radar controller 1332 may be configured to control a beamwidth of the one or more BF transmissions 1347, e.g., as described below. [000439] In some demonstrative aspects, radar controller 1332 may be configured to control a count of beam transmissions in the transmission interval 1342, e.g., as described below. [000440] In other aspects, radar controller 1332 may be configured to control any other setting, attribute, parameter and / or configuration of the BF transmission scheme 1340.MBE-P-02777-PC [000441] In some demonstrative aspects, radar controller 1332 may be configured to configure the sequence of transmission intervals 1341, for example, based on a PRI setting, as described below. [000442] In some demonstrative aspects, radar controller 1332 may be configured to configure the sequence of transmission intervals 1341, for example, based on an azimuth resolution setting, e.g., as described below. [000443] In some demonstrative aspects, radar controller 1332 may be configured to configure the sequence of transmission intervals 1341, for example, based on an elevation resolution setting, e.g., as described below. [000444] In some demonstrative aspects, radar controller 1332 may be configured to configure the sequence of transmission intervals 1341, for example, based on a Doppler resolution setting, e.g., as described below. [000445] In other aspects, radar controller 1332 may be configured to configure the sequence of transmission intervals 1341, for example, based on any other additional and / or alternative settings. [000446] In some demonstrative aspects, radar controller 1332 may be configured to configure at least one first transmission interval in the sequence of transmission intervals 1341, for example, according to a first azimuth resolution setting, e.g., as described below. [000447] In some demonstrative aspects, radar controller 1332 may be configured to configure the transmission interval 1342 in the sequence of transmission intervals 1341, for example, according to the first azimuth resolution setting, e.g., as described below. [000448] In some demonstrative aspects, radar controller 1332 may be configured to configure at least one second transmission interval in the sequence of transmission intervals 1341 according to a second azimuth resolution setting, e.g., as described below. [000449] In some demonstrative aspects, the second azimuth resolution setting may be, for example, different from the first azimuth resolution setting, e.g., as described below.MBE-P-02777-PC [000450] In some demonstrative aspects, the second azimuth resolution setting may be, for example, lower than the first azimuth resolution setting, e.g., as described below. [000451] In other aspects, the second azimuth resolution setting may be, for example, higher than the first azimuth resolution setting. [000452] In some demonstrative aspects, radar controller 1332 may be configured to configure a transmission interval 1352 in the sequence of transmission intervals 1341, for example, according to a second azimuth resolution setting, which may be lower than the first azimuth resolution setting of transmission interval 1342, e.g., as described below. [000453] In some demonstrative aspects, radar controller 1332 may be configured to configure the transmission interval 1342, for example, according to a first elevation resolution setting, e.g., as described below. [000454] In some demonstrative aspects, radar controller 1332 may be configured to configure the transmission interval 1352, for example, according to a second elevation resolution setting, e.g., as described below. [000455] In some demonstrative aspects, the second elevation resolution setting may be, for example, different from the first elevation resolution setting, e.g., as described below. [000456] In some demonstrative aspects, the second elevation resolution setting may be, for example, higher than the first elevation resolution setting, for example, when the second azimuth resolution setting is lower than the first azimuth resolution setting, e.g., as described below. [000457] In other aspects, the second elevation resolution setting may be, for example, lower than the first elevation resolution setting, for example, when the second azimuth resolution setting is higher than the first azimuth resolution setting. [000458] In some demonstrative aspects, radar controller 1332 may be configured to configure the transmission interval 1342, for example, to include a first count of beam transmissions, e.g., as described below.MBE-P-02777-PC [000459] In some demonstrative aspects, radar controller 1332 may be configured to configure the transmission interval 1352, for example, to include a second count of beam transmissions, e.g., as described below. [000460] In some demonstrative aspects, the second count of beam transmissions may be, for example, different from the first count of beam transmissions, e.g., as described below. [000461] In some demonstrative aspects, the second count of beam transmissions may be less than the first count of beam transmissions, for example, when the second azimuth resolution setting is lower than the first azimuth resolution setting, e.g., as described below. [000462] In other aspects, the second count of beam transmissions may be, for example, greater than the first count of beam transmissions, for example, when the second azimuth resolution setting is higher than the first azimuth resolution setting. [000463] In some demonstrative aspects, radar controller 1332 may be configured to configure the sequence of transmission intervals 1341 including a first transmission interval corresponding to a first angle range, e.g., as described below. [000464] In some demonstrative aspects, radar controller 1332 may be configured to configure the sequence of transmission intervals 1341 including a second transmission interval corresponding to a second angle range, e.g., as described below. [000465] In some demonstrative aspects, the second angle range may be, for example, different from the first angle range, e.g., as described below. [000466] In some demonstrative aspects, the second angle range may be, for example, wider than the first angle range, e.g., as described below. [000467] In other aspects, the second angle range may be, for example, narrower than the first angle range. [000468] In some demonstrative aspects, radar controller 1332 may be configured to configure the transmission interval 1342 to correspond to a first angle range, e.g., as described below.MBE-P-02777-PC [000469] In some demonstrative aspects, radar controller 1332 may be configured to configure the transmission interval 1352 to correspond to a second angle range, which may be, for example, wider than the first angle range, e.g., as described below. [000470] In some demonstrative aspects, radar controller 1332 may be configured to configure the beam transmission 1344 in the first transmission interval 1342 to include the one or more first BF transmissions 1347 beamformed to a first beamwidth, e.g., as described below. [000471] In some demonstrative aspects, the first beamwidth may be based, for example, on the first angle range, e.g., as described below. [000472] In some demonstrative aspects, radar controller 1332 may be configured to configure a beam transmission 1354 in the second transmission interval 1352 to include one or more second BF transmissions 1357, which may be beamformed to a second beamwidth, e.g., as described below. [000473] In some demonstrative aspects, the second beamwidth may be based, for example, on the second angle range, e.g., as described below. [000474] In some demonstrative aspects, the second beamwidth may be different from the first beamwidth, e.g., as described below. [000475] In some demonstrative aspects, the second beamwidth may be wider than the first beamwidth, for example, when the second angle range of the second transmission interval 1352 is wider than the first angle range of the first transmission interval 1342, e.g., as described below. [000476] In other aspects, the second beamwidth may be narrower than the first beamwidth, for example, when the second angle range of the second transmission interval 1352 is narrower than the first angle range of the first transmission interval 1342, e.g., as described below. [000477] In some demonstrative aspects, the one or more Tx antenna sub-arrays 1314 may include a plurality of Tx antenna sub-arrays 1318, e.g., as described below. [000478] In some demonstrative aspects, the plurality of Tx antenna sub-arrays 1318 may include the Tx sub-array 1314 and a Tx sub-array 1316, e.g., as described below.MBE-P-02777-PC [000479] In some demonstrative aspects, the transmission interval 1342 may include a sequence of a plurality of beam transmissions 1348 via the plurality of Tx antenna sub- arrays 1318, e.g., as described below. [000480] For example, the plurality of beam transmissions 1348 may include beam transmission 1344 and a beam transmission 1346. [000481] In some demonstrative aspects, the plurality of beam transmissions 1348 may include a plurality of coded beam transmissions encoded according to a Tx coding scheme, e.g., as described below. [000482] In some demonstrative aspects, the Tx coding scheme may be configured to differentiate between codded transmissions from the plurality of Tx antenna sub-arrays 1318, e.g., as described below. [000483] In some demonstrative aspects, the Tx coding scheme may be based, for example, on a first code and a second code, e.g., as described below. [000484] In some demonstrative aspects, the second code may be different from the first code, e.g., as described below. [000485] In some demonstrative aspects, the first code may be inverse to the second code, e.g., as described below. [000486] In some demonstrative aspects, radar controller 1332 may be configured to set a configuration of the BF transmission scheme 1340, for example, such that the first code may be applied to a first coded transmission from a first Tx antenna sub-array in a first coded beam transmission, to a second coded beam transmission from the first Tx antenna sub-array in a second coded beam transmission, and to a first coded transmission from a second Tx antenna sub-array in the first coded beam transmission, e.g., as described below. [000487] For example, the first coded transmission from the first Tx antenna sub-array in the first coded beam transmission may include a first BF transmission from the first Tx antenna sub-array in the first coded beam transmission. [000488] For example, the second coded beam transmission from the first Tx antenna sub-array in the second coded beam transmission may include a second BF transmission from the first Tx antenna sub-array in the second coded beam transmission.MBE-P-02777-PC [000489] For example, the first coded transmission from the second Tx antenna sub- array in the first coded beam transmission may include a first BF transmission from the second Tx antenna sub-array in the first coded beam transmission. [000490] In some demonstrative aspects, radar controller 1332 may be configured to set a configuration of the BF transmission scheme 1340, for example, such that the second code may be applied to a second coded transmission from the second Tx antenna sub-array in the second coded beam transmission, e.g., as described below. [000491] For example, the second coded transmission from the second Tx antenna sub- array in the second coded beam transmission may include a second BF transmission from the second Tx antenna sub-array in the second coded beam transmission. [000492] In some demonstrative aspects, the BF transmission scheme 1340 may utilize a signal Tx modulation scheme, e.g., as described below. [000493] For example, given a separation between the elevation and the azimuth, e.g., as described above, a simple precoder may be used, for example, at the Rx side, e.g., at data processor 1334, for example, to separate between different Tx groups or Tx columns, for example, between the transmissions from the plurality of Tx antenna sub- arrays 1318, e.g., as described below. [000494] Reference is made to Fig. 14, which schematically illustrates a plurality of beam transmissions 1402, in accordance with some demonstrative aspects. [000495] In some demonstrative aspects, a beam transmission 1402 may include, for example, a single base unit of a chirp, which may be transmitted, for example, from all Tx groups, e.g., in parallel together. [000496] For example, Tx antenna array 1312 (Fig. 13) may include a first Tx sub- array, denoted TX_COLUMN_0, e.g., Tx antenna sub-arrays 1314 (Fig. 13), and a second Tx sub-array, denoted TX_COLUMN_1, e.g., Tx antenna sub-arrays 1316 (Fig. 13). [000497] For example, the Tx antenna array 1312 (Fig. 13) may include a plurality of Tx antennas including a total of N Tx antennas, denoted TX1-TXN.MBE-P-02777-PC [000498] For example, the plurality of Tx antennas TX1-TXN may be distributed, for example, between the first Tx sub-array TX_COLUMN_0, and the second Tx sub-array TX_COLUMN_1. [000499] For example, the first Tx sub-array TX_COLUMN_0 may include m Tx antennas, e.g., Tx antennas TX1-TXm, and / or the second Tx sub-array TX_COLUMN_1 may include (N-m) Tx antennas, e.g., Tx antennas TXm+1- TXN. [000500] In some demonstrative aspects, as shown in Fig. 14, a beam transmission 1402 may include transmission from all of the plurality of Tx antennas TX1-TXN and / or from all of the Tx sub-arrays of Tx array 1312 (Fig. 13). [000501] For example, controller 1332 (Fig. 13) may be configured to configure the beam transmission 1402, for example, to include BF transmissions from the plurality of Tx antennas TX1-TXN, e.g., from the first Tx sub-array TX_COLUMN_0, and from the second Tx sub-array TX_COLUMN_1. [000502] Reference is made to Fig. 15, which schematically illustrates a transmission interval 1502, in accordance with some demonstrative aspects. [000503] In one example, a transmission interval 1502 may include a base unit, which may include, for example, a full pattern preceded from all Tx groups. For example, a transmission interval, e.g., each transmission interval, may be constructed from several transmission beams, e.g., several consecutive beams. [000504] In some demonstrative aspects, as shown in Fig. 15, transmission interval 1502 may include a sequence of a plurality of beam transmissions 1548, e.g., via the plurality of Tx antenna sub-arrays 1318 (Fig. 13). [000505] In some demonstrative aspects, as shown in Fig. 15, the sequence of the plurality of beam transmissions 1548 may include a first beam transmission, denoted Beam_0, e.g., a first beam transmission 1402 (Fig. 14). [000506] In some demonstrative aspects, as shown in Fig. 15, transmission interval 1502 may include a second beam transmission, denoted Beam_1, e.g., a second beam transmission 1402 (Fig. 14).MBE-P-02777-PC [000507] For example, controller 1332 (Fig. 13) may be configured to configure the transmission interval 1502, for example, to include the sequence of the plurality of beam transmissions 1548. [000508] In some demonstrative aspects, the first beam transmission Beam_0 and the second first beam transmission Beam_1 may include coded beam transmissions, which may be encoded, for example, according to a Tx coding scheme. For example, the Tx coding scheme may be configured to differentiate between coded transmissions from the first Tx sub-array TX_COLUMN_0 and the second Tx sub-array TX_COLUMN_1, e.g., as described below. [000509] Reference is made to Fig. 16 which schematically illustrates a Tx coding scheme 1600, in accordance with some demonstrative aspects. [000510] In some demonstrative aspects, controller 1332 (Fig. 13) may be configured to configure a coding of the BF transmissions in the BF transmission scheme 1340 (Fig. 13), for example, according to the Tx coding scheme 1600. [000511] In one example, Tx coding scheme 1600 (also referred to as a “Tx pre-code”) may be applied for different Tx groups, for example, to support in separating the different Tx groups at a receiver-side processor, e.g., at radar data processor 1334 (Fig. 13). [000512] For example, the separation of the Tx groups may be implemented, for example, to provide a technical solution to support recovering an azimuth AoA, e.g., in case the Tx group separation is in the azimuth dimension. [000513] In some demonstrative aspects, the Tx pre-code may be implemented, for example, by applying a different gain code, a different phase code, and / or any other coding mechanism, for a Tx group, e.g., for each Tx group, Tx sub-array, and / or Tx column, e.g., in each beam transmission. [000514] In some demonstrative aspects, a formation of the Tx pre-code may be repeated, for example, in one or more transmission intervals, e.g., in every transmission interval. [000515] For example, the Tx pre-code 1600 may be configured for two Tx groups.MBE-P-02777-PC [000516] In some demonstrative aspects, as shown in Fig. 16, the Tx coding scheme 1600 may be configured to differentiate between coded transmissions from the first Tx sub-array TX_COLUMN_0 and the second Tx sub-array TX_COLUMN_1. [000517] In some demonstrative aspects, as shown in Fig. 16, the Tx coding scheme 1600 may be based, for example, on a first code, denoted Code A, and a second code, denoted Code B, which may be inverse to the Code A, e.g., as described below. [000518] For example, the first code “Code A” and / or the second code “Code B” may be defined, e.g., as follows: Code A = do nothing Code B = multiply with 180 phase shift (entire chirp) [000519] In other aspects, any other additional or alternative code definition may be used. [000520] In some demonstrative aspects, as shown in Fig. 16, the Tx coding scheme 1600 may include a coded transmission interval (CINT) 1620 including a sequence of coded beam transmissions 1648 via the first Tx sub-array TX_COLUMN_0 and the second Tx sub-array TX_COLUMN_1. [000521] In some demonstrative aspects, as shown in Fig. 16, the sequence of coded transmissions 1648 may include a first coded beam transmission 1644, denoted CBeam_0. [000522] In some demonstrative aspects, as shown in Fig. 16, the sequence of coded transmissions 1648 may include a second coded beam transmission 1646, denoted CBeam_1. [000523] In some demonstrative aspects, as shown in Fig. 16, the Code A may be applied to a first coded transmission 1602 from the first Tx sub-array TX_COLUMN_0, for example, in the first coded beam transmission 1644. [000524] In some demonstrative aspects, as shown in Fig. 16, the Code A may be applied to a second coded beam transmission 1604 from the first Tx antenna sub-array TX_COLUMN_0, for example, in the second coded beam transmission 1646.MBE-P-02777-PC [000525] In some demonstrative aspects, as shown in Fig. 16, the Code A may be applied to a first coded transmission 1612 from the second Tx antenna sub-array TX_COLUMN_1, for example, in the first coded beam transmission 1644. [000526] In some demonstrative aspects, as shown in Fig. 16, the second code B may be applied to a second coded transmission 1614 from the second Tx antenna sub-array TX_COLUMN_1, for example, in the second coded beam transmission 1646. [000527] In some demonstrative aspects, the Tx coding scheme 1600 may result in transmitting over the air all the Tx groups together, e.g., as a “pure” MIMO transmission. [000528] In some demonstrative aspects, an Rx array, e.g., Rx array 1322 (Fig. 13), may receive the first coded beam transmission 1644 signal CBeam_0, and the second coded beam transmission 1646 including the signal CBeam_1, e.g., as follows: CBeam_0 = TX_COLUMN_0 + TX_COLUMN_1 CBeam_1 = TX_COLUMN_0 - TX_COLUMN_1 [000529] In some demonstrative aspects, radar data processor 1334 (Fig. 13) may be configured to process the received beam transmission 1644 and the received beam transmission 1646, for example, determine a location of a Tx group, e.g., each Tx group, for example, for an azimuth AoA recovery. For example, the elevation may already be solved via the Tx pattern itself, for example, via the beamforming. [000530] For example, radar data processor 1334 (Fig. 13) may be configured to differentiate between the coded transmissions from the first Tx sub-array TX_COLUMN_0 and the second Tx sub-array TX_COLUMN_1, for example, based on the received beam transmission 1644 and the received beam transmission 1646, e.g., as follows:: TX_COLUMN_0 = 0.5 (CBeam_0 + CBeam_1) TX_COLUMN_1 = 0.5 (CBeam_0 - CBeam_1) [000531] In some demonstrative aspects, a Tx coding scheme may be configured to differentiate between coded transmissions from more than two Tx sub-arrays, e.g., as described below.MBE-P-02777-PC [000532] In one example, a concept similar to the Tx coding scheme 1600 may be extended for more than two Tx antenna groups, e.g., for four Tx columns or Tx groups. [000533] For example, a transmission interval, e.g., coded transmission interval 1620, may be configured to include four coded beam transmissions. [000534] In some demonstrative aspects, an Rx array, e.g., Rx array 1322 (Fig. 13), may receive the four coded beam transmissions including, for example, the following four received signals, which may be based, for example, on the first code (Code A) and the second code (Code B), e.g., as follows: CCBeam_0 = TX_COLUMN_0 + TX_COLUMN_1 + TX_COLUMN_2 + TX_COLUMN_3 CBeam_1 = TX_COLUMN_0 - TX_COLUMN_1 + TX_COLUMN_2 - TX_COLUMN_3 CBeam_2 = TX_COLUMN_0 + TX_COLUMN_1 - TX_COLUMN_2 - TX_COLUMN_3 CBeam_3 = TX_COLUMN_0 - TX_COLUMN_1 - TX_COLUMN_2 + TX_COLUMN_3 [000535] In some demonstrative aspects, radar data processor 1334 (Fig. 1) may be configured to differentiate between the coded transmissions from the four Tx groups, for example, based on the four received coded transmissions, e.g., as follows: TX_COLUMN_0 = 0.25 (+CBeam_0 +CBeam_1 + CBeam_2 + CBeam_3) TX_COLUMN_1 = 0.25 (+CBeam_0 - CBeam_1 + CBeam_2 - CBeam_3) TX_COLUMN_2 = 0.25 (+CBeam_0 + CBeam_1 - CBeam_2 - CBeam_3) TX_COLUMN_3 = 0.25 (+CBeam_0 - CBeam_1 - CBeam_2 + CBeam_3) [000536] In other aspects, any other codes and / or number of group / columns may be used. [000537] In some demonstrative aspects, a signal in a coded transmission interval, e.g., coded transmission interval 1620, of a CBFM modulation may be configured, for example, based on the first code “Code A” and / or the second code “Code B”, e.g., as follows:MBE-P-02777-PC ^^,^^^^=wherein: $: $ = 0 ⋯ j − 1 denotes a transmitter element index, wherein n denotes a total count of Tx elements; g denotes a beam index, e.g., g = 0,1 for two Tx columns; and Tc denotes a chirp duration. [000538] Referring back to Fig. 13, in some demonstrative aspects, beamforming transmission scheme 1340 may be configured, for example, based on one or more beamforming configurations and / or settings (also referred to as “beamforming types”, “beamforming schemes”, or “beamforming modes”), e.g., as described below. [000539] In some demonstrative aspects, the Tx pattern according to the plurality of BF transmissions, e.g., including the BF transmissions 1347 and / or 1357, may be utilized to resolve the Elevation domain, e.g., as described above. [000540] In some demonstrative aspects, the Tx coding scheme, e.g., the Tx coding scheme 1600 (Fig. 16) may be used to support Az separation, e.g., as described above. [000541] In some demonstrative aspects, there may be one or more degrees of freedom, which may be utilized, for example, to configure the Elevation (EL) Beamforming, e.g., as described below. [000542] In some demonstrative aspects, the BF transmissions, e.g., including the BF transmissions 1347 and / or 1357, may be configured according to one or more predefined beamforming modes, e.g., as described below. [000543] In other aspects, the BF transmissions, e.g., including the BF transmissions 1347 and / or 1357, may be configured according to any other additional or alternative suitable beamforming modes, types, configurations and / or settings. [000544] In some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include two or moreMBE-P-02777-PC transmission intervals, which may be configured according to two or more different beamforming types, e.g., as described below. [000545] In some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include two or more transmission intervals, which may be configured according to a same beamforming type, e.g., as described below. [000546] In some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include, for example, one or more first transmission intervals, which may be configured according to a first beamforming type, e.g., as described below. [000547] In some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include, for example, one or more second transmission intervals, which may be configured according to a second beamforming type, e.g., as described below. [000548] In some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include, for example, one or more third transmission intervals, which may be configured according to a third beamforming type, e.g., as described below. [000549] In other aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include, for example, one or more transmission intervals, which may be configured according to any other additional or alternative beamforming type. [000550] In some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include, for example, one or more transmission intervals, which may be configured according to a first predefined Tx beamforming mode (also referred to as “regular Tx beamforming”, or “Regular Elevation Azimuth Resolution (REAR) beamforming”), e.g., as described below. [000551] In some demonstrative aspects, the first predefined Tx beamforming mode may be configured for example, to provide a technical solution to support an increased aperture angular separation, e.g., to maximize the aperture angular separation.MBE-P-02777-PC [000552] In some demonstrative aspects, the regular Tx beamforming mode may be configured to use all Tx sub arrays 1318, e.g., all Tx columns of Tx array 1312, for example, to achieve a full VA aperture in the azimuth domain and / or a full processing gain. [000553] In some demonstrative aspects, the regular Tx beamforming mode may configured to provide a predefined beam space, e.g., a substantially “traditional” beam space. [000554] In some demonstrative aspects, the regular Tx beamforming mode may be configured to utilize a Tx phase to be applied to the Tx elements of a Tx sub array 1318, for example, to generate a BF transmission. For example, the Tx phase may be predefined, for example, to target a designated angle. [000555] For example, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include, for example, a transmission interval, which may be configured according to the REAR Tx beamforming mode, for example, by configuring a predefined phase to be applied to the Tx sub arrays 1318, for example, based om a target angle defined for the transmission interval. [000556] For example, controller 1332 may be configured to configure a transmission interval according to the REAR Tx beamforming mode, for example, by configuring the beamforming transmissions of the transmission interval to a particular elevation angle. [000557] For example, controller 1332 may be configured to configure a first transmission interval according to the REAR Tx beamforming mode, for example, by configuring a first predefined phase to be applied to the Tx sub arrays 1318, for example, based on a first target angle, which may be defined for the first transmission interval. [000558] For example, controller 1332 may be configured to configure a second transmission interval according to the REAR Tx beamforming mode, for example, by configuring a second predefined phase to be applied to the Tx sub arrays 1318, for example, based on a second target angle, e.g., different from the first target angle, which may be defined for the second transmission interval.MBE-P-02777-PC [000559] In some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include, for example, one or more transmission intervals, which may be configured according to a second predefined Tx beamforming mode (also referred to as “Low Azimuth Resolution (LAR) beamforming”), e.g., as described below. [000560] In some demonstrative aspects, the LAR Tx beamforming mode may be configured, for example, to provide a technical solution to support a reduced frame duration. For example, the reduced frame duration may be configured to support a technical solution to reduce power consumption, and / or to reduce a PRI. [000561] For example, the LAR Tx beamforming mode may be implemented, for example, for use cases and / or scenarios, which may include wide spread azimuth target detections, e.g., bridges, on certain elevations. [000562] In some demonstrative aspects, the LAR Tx beamforming mode may be configured, for example, to provide a technical solution to support a reduced SNR, e.g., compared to the REAR beamforming Tx scheme. [000563] In some demonstrative aspects, the LAR Tx beamforming mode may be configured, for example, to provide a technical solution to support detection of a wider range of angles, e.g., in the presence of a target in the azimuth domain, for example, when separability in the azimuth domain is less critical. [000564] In one example, the LAR Tx beamforming mode may be implemented, for example, in use cases and / or scenarios, including tunnels. [000565] In some demonstrative aspects, the LAR beamforming mode may be configured to utilize a beam pattern, which may be similar to the beampattern of the REAR beamforming mode, for example, while using less elements in the VA azimuth dimension. [000566] In some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include, for example, one or more transmission intervals, which may be configured according to a third predefined Tx beamforming mode (also referred to as “Low Elevation Resolution (LER) beamforming”), e.g., as described below.MBE-P-02777-PC [000567] In some demonstrative aspects, the LER Tx beamforming mode may be configured to provide a technical solution to support coverage of a wider range of angles, for example, for detection of widespread targets in the elevation domain. [000568] In some demonstrative aspects, the LER Tx beamforming mode may be configured, for example, to provide a technical solution to support a reduced SNR, e.g., compared to the REAR beamforming Tx scheme. [000569] In some demonstrative aspects, the LER Tx beamforming mode may be configured, for example, to provide a technical solution to support detection of a wider range of angles, e.g., in the presence of a target in the elevation domain, for example, when separability in the elevation domain is less critical. [000570] In one example, the LAR Tx beamforming mode may be implemented, for example, in use cases and / or scenarios including tunnels. [000571] For example, controller 1332 may be configured to configure a transmission interval according to the LER Tx beamforming mode, for example, by configuring the beamforming transmissions of the transmission interval to over a range of elevation angles. [000572] Reference is made to Fig.17, which schematically illustrates a beamforming pattern 1700, in accordance with some demonstrative aspects. [000573] In some demonstrative aspects, the beamforming pattern 1700 may be implemented for beamforming transmissions according to the LER Tx beamforming mode. For example, controller 1332 may be configured to configure a transmission interval according to the LER Tx beamforming mode, for example, by configuring the beamforming transmissions of the transmission interval to over a range of elevation angles according to the beamforming pattern 1700. [000574] In some demonstrative aspects, as shown in Fig. 17, the LER Tx beamforming mode may be configured to provide a technical solution to support a relatively wide beamwidth of the beamforming pattern 1700. [000575] For example, as shown in Fig. 17, the beamforming pattern 1700 may have a beamwidth of about 30 degrees, e.g., between -15 and +15 degrees.MBE-P-02777-PC [000576] Referring back to Fig. 13, in some demonstrative aspects, controller 1332 may be configured to configure the beamforming transmission scheme 1340 to include a plurality of transmission intervals, which may be configured according to two or more different beamforming types, e.g., as described below. [000577] In some demonstrative aspects, radar controller 1332 may be configured to configure a first transmission interval, e.g., the transmission interval 1342, in the sequence of transmission intervals 1341, for example, according to a first beamforming setting. [000578] In some demonstrative aspects, radar controller 1332 may be configured to configure a second transmission interval, e.g., the transmission interval 1352, in the sequence of transmission intervals 1341, for example, according to a second beamforming setting. [000579] In some demonstrative aspects, the second beamforming setting may be different from the first beamforming setting. [000580] In some demonstrative aspects, the first beamforming setting may be configured to include beamforming transmissions corresponding to a first angle range. [000581] In some demonstrative aspects, the second beamforming setting may be configured to include beamforming transmissions corresponding to a second angle range. [000582] In some demonstrative aspects, the second angle range may be different from the first angle range. [000583] In one example, radar controller 1332 may be configured to configure the transmission interval 1342 to include beamforming transmissions, which may be beamformed to a first angle range, for example, according to the REAR beamforming setting. For example, radar controller 1332 may be configured to configure the transmission interval 1352 to include beamforming transmissions, which may be beamformed to a second angle range, e.g., different from the first angle range, for example, according to the LER beamforming setting. [000584] In another example, radar controller 1332 may be configured to configure the transmission interval 1342 to include beamforming transmissions, which may be beamformed to a first angle range, for example, according to the LAR beamformingMBE-P-02777-PC setting. For example, radar controller 1332 may be configured to configure the transmission interval 1352 to include beamforming transmissions, which may be beamformed to a second angle range, e.g., different from the first angle range, for example, according to the LER beamforming setting. [000585] In another example, radar controller 1332 may be configured to configure the transmission interval 1342 to include beamforming transmissions, which may be beamformed to a first angle range, for example, according to the REAR beamforming setting. For example, radar controller 1332 may be configured to configure the transmission interval 1352 to include beamforming transmissions, which may be beamformed to a second angle range, e.g., different from the first angle range, for example, according to the LAR beamforming setting. [000586] In some demonstrative aspects, BF transmission scheme 1340 may be configured to provide a technical solution to support a relatively short PRI, e.g., a very short PRI. For example, the very short PRI may be achieved, for example, by generating very short chirps. For example, a lower limit of the PRI may be based on a round trip delay corresponding to a maximum range (Rmax). [000587] In one example, for a maximum detection range of 250 meters (m), the round trip delay may be about ~1.6us. Accordingly, a chirp duration, e.g., a shortest chirp duration, may be configured to have a duration of about 1.6us. [000588] For example, BF transmission scheme 1340 may be configured, for example, such that a transmission interval, e.g., each transmission interval, may cover a single elevation angle range. Accordingly, the PRI of BF transmission scheme 1340 may be determined by the number of transmission intervals, which may be based, for example, on a number of elevation angles to be scanned. [000589] In some demonstrative aspects, controller 1332 may be configured to configure the sequence of transmission intervals 1341 to include transmission intervals, which may be configured to support a combination of several different Tx beamforming types, for example, in a same slot and / or frame structure. [000590] In some demonstrative aspects, controller 1332 may be configured to configure the sequence of transmission intervals 1341 to include transmission intervals, which may be configured to support a combination of several different Tx beamformingMBE-P-02777-PC types, for example, including the REAR Tx beamforming mode, the LER Tx beamforming mode, the LAR Tx beamforming mode, and / or any other suitable additional or alternative Tx beamforming type. [000591] In some demonstrative aspects, controller 1332 may be configured to configure the sequence of transmission intervals 1341 to include transmission intervals, which may be configured to support a reduced PRI. For example, a reduced PRI may support an improved maximum Velocity (Vmax), e.g., as the maximum Velocity Vmax may depend on the PRI. [000592] Reference is made to Fig. 18, which schematically illustrates a frame structure 1800 according to a BF transmission scheme, in accordance with some demonstrative aspects. [000593] In some demonstrative aspects, as shown in Fig. 18, frame structure 1800 may include a plurality of slots, denoted SLOT 1- SLOT N. [000594] In some demonstrative aspects, as shown in Fig. 18, a slot may include a sequence of transmission intervals 1858, which may be configured to cover an elevation range. [000595] In some demonstrative aspects, as shown in Fig. 18, a transmission interval, e.g., each transmission interval 1858, may correspond to an elevation angle range within the elevation range, e.g., as described below. [000596] In some demonstrative aspects, as shown in Fig. 18, a transmission interval, e.g., each transmission interval 1858, may be configured according to a beamforming Tx setting, which may correspond, for example, to the elevation angle range of the transmission interval, e.g., as described below. [000597] In one example, as shown in Fig. 18, a transmission interval 1802 may correspond to an elevation angle range between (-4) and (-10) degrees, and may be configured according to the LER Tx beamforming setting. [000598] In one example, as shown in Fig. 18, a transmission interval 1804 may correspond to an elevation angle of 0 degrees, and may be configured according to the REAR beamforming setting.MBE-P-02777-PC [000599] In one example, as shown in Fig. 18, a transmission interval 1806 may correspond to an elevation angle range between 12 and 20 degrees, and may be configured according to the LAR beamforming setting. [000600] In other aspects, the sequence of transmission intervals 1858 may be configured according to any other elevation angle ranges and / or Tx beamforming settings. [000601] In some demonstrative aspects, a transmission interval in a slot structure, e.g., each transmission interval, may be configured, e.g., by controller 1332 (Fig. 13), for example, based on one or more Tx-interval parameters, e.g., as described below. [000602] For example, the one or more Tx-interval parameters may include a beamforming setting, an elevation angle range, a count of beam transmissions, a beamwidth of the beam transmissions, and / or an interval duration. [000603] In other aspects, any other additional or alternative parameters may be used to configure a Tx interval. [000604] In one example, a slot structure may be configured to include one or more of the following transmission intervals, which may be configured according to one or more of the following Tx-interval parameters: Interval # beams in Beam Width Interval El Angle [deg] Type interval [us] duration [us] LER -15..-4.3 2 1.6 3.2 REAR 0 2 1.6 3.2 REAR 4.3 2 1.6 3.2 REAR 8.8 2 1.6 3.2 REAR 13.1 2 1.6 3.2 LER 17.5-25 2 1.6 3.2 Table (2)MBE-P-02777-PC [000605] In some demonstrative aspects, a PRI of a slot structure may be based, for example, on a total duration of the transmission intervals in the slot structure. [000606] In some demonstrative aspects, a maximum detected velocity corresponding to the slot structure may be determined, for example, based on the total duration of the transmission intervals in the slot structure. [000607] In one example, a maximum detected velocity of the slot structure of Table 2 may be determined, for example, based on a total duration of the transmission intervals in Table 2, e.g., as follows: Total slot duration = 6 x 3.2 = 19.2 (==PRI)Vmax =~ 50 + / - m / s. [000608] Referring back to Fig. 13, in some demonstrative aspects, BF transmission scheme 1340 may be configured to provide a technical solution to configure a maximum detected velocity, for example, independent of a count of Tx antennas in the Tx antenna array 1312. [000609] In some demonstrative aspects, BF transmission scheme 1340 may provide a technical solution which may support scalability of the count of Tx antennas in the Tx antenna array 1312, e.g., as follows: Max Velocity (+ / - m / s) Max Max Delay τklmNumber of Tx Antennas Range(us) rklm(m) 1 2 4 8 16 24 32 50 0.33 50.60 50.60 50.60 50.60 50.60 50.60 50.60 100 0.67 50.60 50.60 50.60 50.60 50.60 50.60 50.60 150 1.00 50.60 50.60 50.60 50.60 50.60 50.60 50.60MBE-P-02777-PC 200 1.33 50.60 50.60 50.60 50.60 50.60 50.60 50.60 250 1.67 50.60 50.60 50.60 50.60 50.60 50.60 50.60 300 2.00 50.60 50.60 50.60 50.60 50.60 50.60 50.60 Table (3) [000610] For example, the BF transmission scheme 1340 may support substantially simultaneous transmissions from all Tx sub-arrays of Tx antenna array 1312. Accordingly, substantially the same PRI may be maintained, for example, with addition of Tx antenna elements, e.g., as long as they align in a VA format of Tx antenna array 1312. Accordingly, the BF transmission scheme 1340 may support may be implemented to provide a technical solution to support system scalability. [000611] In some demonstrative aspects, a phase code and / or a gain code may be implemented within a frame, e.g., as described below. [000612] In some demonstrative aspects, transmitter signals from Tx antenna array 1312 may be separated at a receiver side, e.g., data processor 1334, for example, in case a signal delay is less than a maximum delay, e.g., delay(2rmax)∕c. [000613] For example, the requirement for a maximum delay or a maximum frequency shift at a received radar Rx signal 1307 may be violated, for example, in cases where a strong radar signal reflector is present at a distance greater than a specified maximum detected range rmax. In such case, the reflected signal may leak into a cross-correlation window of the next antenna and may appear as a phantom target at a wrong distance, e.g., as described below. [000614] Reference is made to Fig. 19, which schematically illustrates simulation results 1900 showing a phantom target 1910, in accordance with some demonstrative aspects. [000615] For example, as shown in Fig.19, phantom target 1910 may appear at a range of 10m from a vehicle, for example, due to a relatively strong reflector, which may be located at about 250m from the vehicle, e.g., when rmax=250m.MBE-P-02777-PC [000616] For example, in order to mitigate this issue, a (quasi-) random initial phase rotator, denoted o^^^^, may be applied to a chirp, e.g., to each of the transmitted chirps, over K chirp cycles of a radar frame, e.g., as follows:[000617] For example, a range response, denoted t^,q,+, for an m-th transmitter at a k- th chirp caused by an l-th target at a certain receiver may be expressed as:wherein u+denotes a complex gain,denotes a delay, and y+denotes a Doppler frequency shift caused by the target. [000618] For example, an inverse phase rotator may be applied to the range response for the assumed transmitter, e.g., as follows: tz^,q,+=[000619] For example a K-point FFT along a Doppler dimension may be performed to recover the phase term o^^^^.[000620] For example, in case of a strong target at a long distance, e.g. / ^XY < / + <2 / ^XY, a reflected signal originating from the m-th transmitter may leak into the (m+1)-th transmitter’s cross-correlation window, hence the phase rotator would mismatch with the intended one, e.g., as follows:[000621] For example, after the K-point FFT along the k-dimension, the residual phase term p^∗,qp^J3,qmay spread the received signal over the entire Doppler field of view. [000622] For example, additional suppression may be achieved, for example, by a following 2-Dimensional FFT (2D-FFT) based AoA processing. [000623] For example, one or more types of pseudo-random sequence with good cross- correlation properties may be used, including, for example:MBE-P-02777-PC ^ A uniform random phase rotator ^ A Hadamard Matrix ^ A (nested) Barker code ^ A Gold code ^ Any other code [000624] In some demonstrative aspects, a windowing scheme may be applied, for example, to a BF transmission, e.g., as described below. [000625] In some demonstrative aspects, a transmitter, e.g., transmitter 883 (Fig. 8), may use a windowed, e.g., tapered, transmitting waveform, e.g., as follows:[000626] For example, a windowed transmitting waveform may be used, for example, to provide a technical solution to support an improved frequency property of a transmitted waveform and, hence, to reduce some of the unwanted effects at the receiver, for example, a raised noise floor or a near-far, e.g., close range target mask far range target, problem in a radar system. [000627] In one example, the windowed transmitting waveform may be based on a Tukey window. [000628] For example, the Tukey window may be defined, e.g., as follows: ^^^j^[000629] For example, this windowing function may be regarded as a cosine lobe of a width αN / 2, which may be convolved with a rectangular window of a width (1 − α / 2)N. For example, the windowed transmitting waveform may become rectangular, e.g., at αMBE-P-02777-PC = 0, and / or the windowed transmitting waveform may become a Hann window, e.g., at α = 1. [000630] Reference is made to Fig. 20, which schematically illustrates simulation results showing a window effect, in accordance with some demonstrative aspects. [000631] For example, a graph 2010 may represent a Tukey window effect on an FMCW waveform in a frequency domain. [000632] For example, a first curve 2012 of graph 2010 may represent the FMCW waveform in a frequency domain, for example, with α=0, e.g., a rectangular window. [000633] For example, a second curve 2014 of graph 2010 may represent the FMCW waveform in a frequency domain, for example, with α=0.25. [000634] For example, a third curve 2016 of graph 2010 may represent the FMCW waveform in a frequency domain, for example, with α=1, e.g., a Hann window. [000635] For example, a graph 2020 may represent a Tukey window effect on the FMCW waveform in in a range domain. [000636] For example, a first curve 2022 of graph 2020 may represent the FMCW waveform in the range domain, for example, with α=0, e.g., a rectangular window. [000637] For example, a second curve 2024 of graph 2020 may represent the FMCW waveform in the range domain, for example, with α=0.25. [000638] For example, a third curve 2026 of graph 2020 may represent the FMCW waveform in the range domain, for example, with α=1, e.g., a Hann window. [000639] For example, as shown by graph 2010, the Tukey window effect may result in an improved out-of-band leakage, for example, with α=0, 0.25, or 1. [000640] For example, as shown by graph 2020, the Tukey window effect may result in an improved far target desensitization, for example, with α=0, 0.25, or 1. [000641] Referring back to Fig. 13, in some demonstrative aspects, radar data processor may 1334 may be configured to perform baseband processing of the radar Rx signals 1307, which may include range processing, e.g., as described below. [000642] For example, a baseband transmitted signal from a transmitter, e.g., from a Tx antenna of Tx antenna array 1312, may be denoted as ^^^^^.MBE-P-02777-PC [000643] For example, a received signal, denoted^^^^, which may be received at an n-th Rx antenna, from a target with two-way delay of / and a complex scaling factor, denoted A, may be expressed, e.g., as follows:[000644] For example, by design, the modulation from different transmitters under time shifts may be orthogonal, e.g., in the following sense:wherein 0 ≤ / ^,^< τ^XY, g ≠ j CDdenotes the chirp cycle time, e.g., the correlation window, and:wherein^^^ / ^may bear close-to Dirac-Delta function property. [000645] For example, Equations (X1) and (X2) may suggest that a matched filtering processing may be applied to separate Tx antennas at the receiver. As discussed above, a windowed TDM-LFM waveforms may satisfy this requirement. [000646] In some demonstrative aspects, radar data processor 1334 may be configured to perform baseband processing of the radar Rx signals 1307, which may include Doppler motion compensation, e.g., as described below. [000647] For example, after Range-Doppler processing, a significant phase offset may be present, for example, due to the angle of arrival of each target in a given range- Doppler cell. [000648] For example, phase offsets may exist, for example, due to a time spacing, denoted / ;F^, between a transmit antenna waveform (m=1, 2, … M), for example, in a time-staggered LFM Carrier Wave (CW) (LFMCW) orthogonal MIMO or aMBE-P-02777-PC compressed TDM modulation scheme, for example, with the Doppler motion of the target. [000649] For example, a phase offset, denoted ^^^99^^;, for example, due to a Doppler motion for each target, may be determined, e.g., as follows:^^^^^l^ ^^l^^ ^^^ ^  ¡m ^^l¢^ ^^^l£ ¤ ^^ ^ ^^^^¥^^ ^^l^^(X3) wherein denotes a Doppler shift of target, ¦5denotes a carrier frequency, and § denotes a sweep slope of the FMCW waveform. [000650] Reference is made to Fig. 21, which schematically illustrates a graph 2110 depicting a plurality of phase offset values, in accordance with some demonstrative aspects. [000651] For example, graph 2110 may represent phase offset values of a phase (6^789b^^J3^`abc) for uniform time spacing ( / ;F^) of 1.25e-6 seconds. [000652] For example, radar data processor 1334 (Fig. 13) may be configured to estimate the phase offset (^^^99^^;^, for example, based on Doppler values obtained from a Doppler processing step, and an a priori known transmit antenna waveform time offset^g − 1^τ;F^, for example, to implement a Doppler motion compensation block. [000653] For example, radar data processor 1334 (Fig. 13) may be configured to compensate the phase offset (^^^99^^;^, for example, across the corresponding range- Doppler cells obtained from each Tx-Rx antenna pair, e.g., before a 2D angle of arrival estimation. [000654] For example, radar data processor 1334 (Fig. 13) may be configured to calculate the phase offset, for example, for each Doppler bin, for example, based on velocities corresponding to a center of each Doppler bin, which may be, for example, calculated and stored in advance. For example, this estimation of the phase offset may be implemented to provide a technical solution to support full 4D-FFT based processing in a Doppler processing pipeline.MBE-P-02777-PC [000655] For example, radar data processor 1334 (Fig.13) may be configured to apply the phase offset to all range-Doppler bins, e.g., before 2D-AOA processing. [000656] In one example, a 2D AOA plot with and without motion offset for a three point moving target simulation may be configured, e.g., as follows: Target Range (m) Az (Deg) El(Deg) Velocity vector(m / s)* Mean RCS 1 99.93 -45 10

[0000] 50 2 45 0 0 [0 -60] 30 3 33 30 0

[0130] 30 Notes: * velocity is defined as a 3d vector in global coordinate system. Radar is placed at [0,0,0] and facing [0,1,0] direction. Table (4) [000657] Referring back to Fig. 13, in some demonstrative aspects, radar data processor 1334 may be configured to perform baseband processing of the radar Rx signals 1307, which may include cross interval coding, e.g., as described below. [000658] For example, radar data processor 1334 may be configured to compensate on a different phase code of a beam transmission, e.g., each beam transmission, of a transmission interval, e.g., transmission interval 1342. [000659] For example, radar data processor may 1334 may be configured multiply a data sample by sample with a phasor having an opposite phase, e.g., opposite to a phase of the data sample. [000660] In some demonstrative aspects, radar data processor 1334 may be configured to perform baseband processing of the radar Rx signals 1307, which may include Doppler encoding, e.g., as described below. [000661] For example, a stage of FFT may be implemented, for example, to move to the Doppler domain.MBE-P-02777-PC [000662] For example, a transmission interval, e.g., each transmission interval from each slot, may be gathered into the FFT input. [000663] In some demonstrative aspects, radar data processor 1334 may be configured to perform baseband processing of the radar Rx signals 1307, which may include a precoder inversion, e.g., as described below. [000664] For example, a column separation in Tx array 1312 may be extracted, for example, from the beam transmissions, e.g., beam transmissions1348, and thus the relevant row for the Az AoA calculation may be used, e.g., for each angle separately. [000665] In one example, the column separation may be based on the Tx coding scheme 1600 (Fig. 16), e.g., as described above: TX_COLUMN_0 = 0.5 (Beam_0 + Beam_1) TX_COLUMN_1 = 0.5 (Beam_0 - Beam_1) [000666] For example, the baseband processing may move to the AoA domain, which may include azimuth rows, e.g., instead of a full 2D map, for example, where each row may already represent a specific elevation angle. [000667] For example, this processing method may provide a technical solution to save on computation of the AoA extraction for the elevation. [000668] In some demonstrative aspects, different chirp parameters may be implemented for different elevation angles, e.g., as described below. [000669] For example, an order and / or a location of each elevation angle in a transmission interval may not be constant, and may vary, for example, to provide a technical solution to support improved system robustness. [000670] In some demonstrative aspects, one or more enhanced scheme options may be configured based on the CBFM scheme, e.g., as described below. [000671] In some demonstrative aspects, a VA may be configured to support improved multi-path mitigation, for example, using an overlapped VA, for example, overlapped virtual antenna array 1170 (Fig. 11), e.g., as described below.MBE-P-02777-PC [000672] In some demonstrative aspects, antenna array 1310 may be configured to result in an overlapped virtual antenna array. For example, a distance between Tx sub array 1314 and Tx sub array 1316 may be shorter than a length of the Rx array 1322. [000673] For example, a Tx column gap of antenna array 1310 (Fig. 13) may be configured to be less than an Rx aperture of Rx array 1322, for example, to generate overlaps in the VA. [000674] For example, the overlapped virtual antenna array may be utilized to provide an additional degree of freedom of information for a specific target, which may be used, for example, to eliminate a multi path effect from this target. [000675] For example, he overlapped virtual antenna array may be utilized to provide a technical solution to support significant mitigation of a multipath effect, for example, by smoothing the phase jumps in the VA. For example, an overlap of about a fifth of VA elements may result in a significant impact in terms of multipath mitigation. [000676] In some demonstrative aspects, radar controller 1332 (Fig. 13) may be configured to configure beam transmissions from one Tx column, for example, for a LAR Tx beamforming setting. For example, this setting may be implemented to enable native multipath mitigation, e.g., with half of an azimuth aperture. [000677] Reference is made to Fig. 22, which schematically illustrates a method of radar transmission according to a beamforming Tx scheme, in accordance with some demonstrative aspects. For example, one or more of the operations of the method of Fig. 22 may be performed by a system, e.g., radar system 900 (Fig. 9), and / or system 1300 (Fig.13), a radar device, e.g., radar device 101 (Fig.1), radar device 800 (Fig. 8), and / or radar device 910 (Fig. 9); and / or a processor, e.g., radar processor 1330 (Fig. 13), radar data processor 1334 (Fig. 13), controller 1332 (Fig. 13), radar processor 834 (Fig. 8), and / or baseband processor 930 (Fig. 9). [000678] As indicated at block 2202, the method may include generating control signals to control transmission of radar Tx signals via a Tx antenna array according to a Beamforming (BF) transmission scheme. For example, the BF transmission scheme may include a sequence of transmission intervals. For example, a transmission interval may include at least one beam transmission via one or more Tx antenna sub-arrays of the Tx antenna array. For example, a Tx antenna sub-array of the one or more TxMBE-P-02777-PC antenna sub-arrays may include a plurality of Tx antennas along a predefined Tx sub- array direction. For example, the sequence of transmission intervals may correspond to a respective sequence of Tx angles along the predefined Tx sub-array direction. For example, a beam transmission in a transmission interval corresponding to a Tx angle may include one or more BF transmissions from the one or more Tx antenna sub-arrays. For example, the one or more BF transmissions may be beamformed based on the Tx angle. For example, radar controller 1332 (Fig. 13) may generate control signals 1305 (Fig. 13) to control the transmission of radar Tx signals 1305 (Fig. 13) via the Tx antenna array 1305 (Fig. 13) according to the BF transmission scheme 1340 (Fig. 13), e.g., as described above. [000679] As indicated at block 2204, the method may include providing the control signals to control the transmission of the radar Tx signals. For example, radar controller 1332 (Fig. 13) may provide the control signals 1305 (Fig. 13) to control the transmission of the radar Tx signals 1303 (Fig. 13), for example, by Tx antenna array 1312 (Fig. 13), e.g., as described above. [000680] As indicated at block 2205, the method may include transmitting the radar Tx signals. For example, radar controller 1332 (Fig. 13) may control Tx antenna array 1312 (Fig. 13) to transmit the radar Tx signals 1303 (Fig. 13), e.g., as described above. [000681] As indicated at block 2206, the method may include processing radar Rx data, which may be based on radar Rx signals received by an Rx antenna array based on the radar Tx signals. For example, radar data processor 1332 (Fig. 13) may process radar Rx data 1335 (Fig. 13), which may be based on the radar Rx signals 1307 (Fig. 13) received by the Rx antenna array 1322 (Fig.13) based on the radar Tx signals 1303 (Fig. 13), e.g., as described above. [000682] As indicated at block 2208, processing the radar Rx data may include processing the radar Rx data based on an arrangement of the Rx antenna array including a plurality of Rx antennas along a predefined Rx array direction perpendicular to the Tx sub-array direction. For example, radar data processor 1332 (Fig. 13) may process radar Rx data 1335 (Fig. 13) based on the arrangement of the Rx antenna array 1322 (Fig. 13) including the plurality of Rx antennas 1327 (Fig. 13) along the predefined Rx array direction 1325(Fig.13), which may be perpendicular to the Tx sub-array direction 1315 (Fig. 13), e.g., as described above.MBE-P-02777-PC [000683] Reference is made to Fig. 23, which schematically illustrates a product of manufacture 2300, in accordance with some demonstrative aspects. Product 2300 may include one or more tangible computer-readable (“machine-readable”) non-transitory storage media 2302, which may include computer-executable instructions, e.g., implemented by logic 2304, operable to, when executed by at least one computer processor, enable the at least one computer processor to implement one or more operations and / or functionalities described with reference to any of the Figs. 1-22, and / or one or more operations described herein. The phrases “non-transitory machine- readable medium” and “computer-readable non-transitory storage media” may be directed to include all machine and / or computer readable media, with the sole exception being a transitory propagating signal. [000684] In some demonstrative aspects, product 2300 and / or machine-readable storage media 2302 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, writeable or re-writeable memory, and the like. For example, machine-readable storage media 2302 may include, 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 (SONOS) memory, a disk, a hard drive, and the like. The computer-readable storage media may include any suitable media involved with downloading or transferring a computer program from a remote computer to a requesting computer carried by data signals embodied in a carrier wave or other propagation medium through a communication link, e.g., a modem, radio or network connection. [000685] In some demonstrative aspects, logic 2304 may include instructions, data, and / or code, which, if executed by a machine, may cause the machine to perform a method, process and / or operations as described herein. The machine may include, for example, any suitable processing platform, computing platform, computing device, processing device, computing system, processing system, computer, processor, or theMBE-P-02777-PC like, and may be implemented using any suitable combination of hardware, software, firmware, and the like. [000686] In some demonstrative aspects, logic 2304 may include, or may be implemented as, software, a software module, an application, a program, a subroutine, instructions, an instruction set, computing code, words, values, symbols, and the like. The instructions may 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 may be implemented according to a predefined computer language, manner or syntax, for instructing a processor to perform a certain function. The instructions may be implemented using any suitable high-level, low-level, object-oriented, visual, compiled and / or interpreted programming language, machine code, and the like. EXAMPLES [000687] The following examples pertain to further aspects. [000688] Example 1 includes an apparatus comprising a radar controller configured to generate control signals to control transmission of radar Transmit (Tx) signals via a Tx antenna array according to a Beamforming (BF) transmission scheme, the BF transmission scheme comprising a sequence of transmission intervals, a transmission interval comprising at least one beam transmission via one or more Tx antenna sub- arrays of the Tx antenna array, wherein a Tx antenna sub-array of the one or more Tx antenna sub-arrays comprises a plurality of Tx antennas along a predefined Tx sub- array direction, wherein the sequence of transmission intervals corresponds to a respective sequence of Tx angles along the predefined Tx sub-array direction, wherein a beam transmission in a transmission interval corresponding to a Tx angle comprises one or more BF transmissions from the one or more Tx antenna sub-arrays, the one or more BF transmissions beamformed based on the Tx angle; and an output to provide the control signals. [000689] Example 2 includes the subject matter of Example 1, and optionally, comprising a radar data processor configured to process radar Receive (Rx) data, the radar Rx data based on radar Rx signals received by an Rx antenna array based on the radar Tx signals, wherein the radar data processor is configured to process the radar Rx data based on an arrangement of the Rx antenna array comprising a plurality of RxMBE-P-02777-PC antennas along a predefined Rx array direction perpendicular to the Tx sub-array direction. [000690] Example 3 includes the subject matter of Example 2, and optionally, wherein the radar data processor is configured to process the radar Rx data according to a Multiple-Input-Multiple-Output (MIMO) processing scheme applied over a plurality of angles along the predefined Rx array direction. [000691] Example 4 includes the subject matter of Example 2 or 3, and optionally, wherein the predefined Tx sub-array direction comprises an elevation direction, and the predefined Rx array direction comprises an azimuth direction. [000692] Example 5 includes the subject matter of any one of Examples 1-4, and optionally, wherein the one or more Tx antenna sub-arrays comprises a plurality of Tx antenna sub-arrays, wherein the transmission interval comprises a sequence of a plurality of beam transmissions via the plurality of Tx antenna sub-arrays. [000693] Example 6 includes the subject matter of Example 5, and optionally, wherein the plurality of beam transmissions comprises a plurality of coded beam transmissions encoded according to a Tx coding scheme configured to differentiate between transmissions from the plurality of Tx antenna sub-arrays. [000694] Example 7 includes the subject matter of Example 6, and optionally, wherein the Tx coding scheme is based on a first code and a second code inverse to the first code, wherein the first code is applied to a first coded transmission from a first Tx antenna sub-array in a first coded beam transmission, to a second coded transmission from the first Tx antenna sub-array in a second coded beam transmission, and to a first coded transmission from a second Tx antenna sub-array in the first coded beam transmission, wherein the second code is applied to a second coded transmission from the second Tx antenna sub-array in the second coded beam transmission. [000695] Example 8 includes the subject matter of any one of Examples 1-7, and optionally, wherein the radar controller is configured to configure the sequence of transmission intervals comprising a first transmission interval corresponding to a first angle range, and a second transmission interval corresponding to a second angle range wider than the first angle range.MBE-P-02777-PC [000696] Example 9 includes the subject matter of Example 8, and optionally, wherein the radar controller is configured to configure a first beam transmission in the first transmission interval comprising one or more first BF transmissions beamformed to a first beamwidth based on the first angle range, and to configure a second beam transmission in the second transmission interval comprising one or more second BF transmissions beamformed to a second beamwidth based on the second angle range, wherein the second beamwidth is wider than the first beamwidth. [000697] Example 10 includes the subject matter of any one of Examples 1-9, and optionally, wherein the radar controller is configured to configure the sequence of transmission intervals based on at least one of a Pulse Repetition Interval (PRI) setting, an azimuth resolution setting, an elevation resolution setting, or a Doppler resolution setting. [000698] Example 11 includes the subject matter of any one of Examples 1-10, and optionally, wherein the radar controller is configured to configure at least one first transmission interval in the sequence of transmission intervals according to a first azimuth resolution setting, and to configure at least one second transmission interval in the sequence of transmission intervals according to a second azimuth resolution setting lower than the first azimuth resolution setting. [000699] Example 12 includes the subject matter of Example 11, and optionally, wherein the radar controller is configured to configure the at least one first transmission interval according to a first elevation resolution setting, and to configure the at least one second transmission interval according to a second elevation resolution setting higher than the first elevation resolution setting. [000700] Example 13 includes the subject matter of Example 11 or 12, and optionally, wherein the radar controller is configured to configure the at least one first transmission interval comprising a first count of beam transmissions, and to configure the at least one second transmission comprising a second count of beam transmissions less than the first count of beam transmissions. [000701] Example 14 includes the subject matter of any one of Examples 1-13, and optionally, wherein the radar controller is configured to control a count of beam transmissions in the transmission interval.MBE-P-02777-PC [000702] Example 15 includes the subject matter of any one of Examples 1-14, and optionally, wherein the radar controller is configured to control a beamwidth of the one or more BF transmissions. [000703] Example 16 includes the subject matter of any one of Examples 1-15, and optionally, wherein the radar controller is configured to set a configuration of the BF transmission scheme to support a maximal (max) unambiguous Doppler level independent of a count of Tx antennas in the Tx antenna array. [000704] Example 17 includes the subject matter of any one of Examples 1-16, and optionally, wherein the radar controller is configured to control a duration of a Pulse Repetition Interval (PRI) of the sequence of transmission intervals independent of a count of Tx antennas in the Tx antenna array. [000705] Example 18 includes the subject matter of any one of Examples 1-17, and optionally, wherein a duration of the beam transmission is less than 2 microseconds. [000706] Example 19 includes the subject matter of any one of Examples 1-18, and optionally, wherein the predefined Tx sub-array direction comprises an elevation direction. [000707] Example 20 includes the subject matter of any one of Examples 1-19, and optionally, wherein the one or more Tx antenna sub-arrays comprises one or more Tx antenna sub-array vertical columns. [000708] Example 21 includes the subject matter of any one of Examples 1-20, and optionally, wherein the radar Tx signals are in a frequency band above 40 Gigahertz (GHz). [000709] Example 22 includes the subject matter of any one of Examples 1-21, and optionally, wherein the radar Tx signals are in a frequency bandwidth of 76-81 Gigahertz (GHz). [000710] Example 23 includes the subject matter of any one of Examples 1-22, and optionally, comprising a radar device, the radar device comprising the Tx antenna array, a Receive (Rx) antenna array to receive radar Rx signals based on the radar Tx signals, and a radar data processor to generate radar information based on the radar Rx signals.MBE-P-02777-PC [000711] Example 24 includes the subject matter of Example 23, and optionally, comprising a vehicle, the vehicle comprising the radar device, and a system controller to control one or more systems of the vehicle based on the radar information. [000712] Example 25 includes a radar system comprising the subject matter of any of Examples 1-23. [000713] Example 26 includes a vehicle comprising the subject matter of any of Examples 1-23. [000714] Example 27 includes an apparatus comprising means for performing any of the described operations of any of Examples 1-23. [000715] Example 28 includes a machine-readable medium that stores instructions for execution by a processor to perform any of the described operations of any of Examples 1-23. [000716] Example 29 comprises a product comprising one or more tangible computer- readable non-transitory storage media comprising instructions operable to, when executed by at least one processor, enable the at least one processor to cause a device and / or system to perform any of the described operations of any of Examples 1-23. [000717] Example 30 includes an apparatus comprising a memory; and processing circuitry configured to perform any of the described operations of any of Examples 1- 23. [000718] Example 31 includes a method including any of the described operations of any of Examples 1-23. [000719] Functions, operations, components and / or features described herein with reference to one or more aspects, may be combined with, or may be utilized in combination with, one or more other functions, operations, components and / or features described herein with reference to one or more other aspects, or vice versa. [000720] While certain features have been illustrated and described herein, many modifications, substitutions, changes, and equivalents may occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the disclosure.

Claims

MBE-P-02777-PC CLAIMS What is claimed is:

1. An apparatus comprising: a radar controller configured to generate control signals to control transmission of radar Transmit (Tx) signals via a Tx antenna array according to a Beamforming (BF) transmission scheme, the BF transmission scheme comprising a sequence of transmission intervals, a transmission interval comprising at least one beam transmission via one or more Tx antenna sub-arrays of the Tx antenna array, wherein a Tx antenna sub-array of the one or more Tx antenna sub-arrays comprises a plurality of Tx antennas along a predefined Tx sub-array direction, wherein the sequence of transmission intervals corresponds to a respective sequence of Tx angles along the predefined Tx sub-array direction, wherein a beam transmission in a transmission interval corresponding to a Tx angle comprises one or more BF transmissions from the one or more Tx antenna sub-arrays, the one or more BF transmissions beamformed based on the Tx angle; and an output to provide the control signals.

2. The apparatus of claim 1 comprising a radar data processor configured to process radar Receive (Rx) data, the radar Rx data based on radar Rx signals received by an Rx antenna array based on the radar Tx signals, wherein the radar data processor is configured to process the radar Rx data based on an arrangement of the Rx antenna array comprising a plurality of Rx antennas along a predefined Rx array direction perpendicular to the Tx sub-array direction.

3. The apparatus of claim 2, wherein the radar data processor is configured to process the radar Rx data according to a Multiple-Input-Multiple-Output (MIMO) processing scheme applied over a plurality of angles along the predefined Rx array direction.

4. The apparatus of claim 2, wherein the predefined Tx sub-array direction comprises an elevation direction, and the predefined Rx array direction comprises an azimuth direction.MBE-P-02777-PC 5. The apparatus of claim 1, wherein the one or more Tx antenna sub-arrays comprises a plurality of Tx antenna sub-arrays, wherein the transmission interval comprises a sequence of a plurality of beam transmissions via the plurality of Tx antenna sub-arrays.

6. The apparatus of claim 5, wherein the plurality of beam transmissions comprises a plurality of coded beam transmissions encoded according to a Tx coding scheme configured to differentiate between transmissions from the plurality of Tx antenna sub-arrays.

7. The apparatus of claim 6, wherein the Tx coding scheme is based on a first code and a second code inverse to the first code, wherein the first code is applied to a first coded transmission from a first Tx antenna sub-array in a first coded beam transmission, to a second coded transmission from the first Tx antenna sub-array in a second coded beam transmission, and to a first coded transmission from a second Tx antenna sub-array in the first coded beam transmission, wherein the second code is applied to a second coded transmission from the second Tx antenna sub-array in the second coded beam transmission.

8. The apparatus of claim 1, wherein the radar controller is configured to configure the sequence of transmission intervals comprising a first transmission interval corresponding to a first angle range, and a second transmission interval corresponding to a second angle range wider than the first angle range.

9. The apparatus of claim 8, wherein the radar controller is configured to configure a first beam transmission in the first transmission interval comprising one or more first BF transmissions beamformed to a first beamwidth based on the first angle range, and to configure a second beam transmission in the second transmission interval comprising one or more second BF transmissions beamformed to a second beamwidth based on the second angle range, wherein the second beamwidth is wider than the first beamwidth.

10. The apparatus of claim 1, wherein the radar controller is configured to configure the sequence of transmission intervals based on at least one of a PulseMBE-P-02777-PC Repetition Interval (PRI) setting, an azimuth resolution setting, an elevation resolution setting, or a Doppler resolution setting.

11. The apparatus of claim 1, wherein the radar controller is configured to configure at least one first transmission interval in the sequence of transmission intervals according to a first azimuth resolution setting, and to configure at least one second transmission interval in the sequence of transmission intervals according to a second azimuth resolution setting lower than the first azimuth resolution setting.

12. The apparatus of claim 11, wherein the radar controller is configured to configure the at least one first transmission interval according to a first elevation resolution setting, and to configure the at least one second transmission interval according to a second elevation resolution setting higher than the first elevation resolution setting.

13. The apparatus of claim 11, wherein the radar controller is configured to configure the at least one first transmission interval comprising a first count of beam transmissions, and to configure the at least one second transmission comprising a second count of beam transmissions less than the first count of beam transmissions.

14. The apparatus of any one of claims 1-13, wherein the radar controller is configured to control a count of beam transmissions in the transmission interval.

15. The apparatus of any one of claims 1-13, wherein the radar controller is configured to control a beamwidth of the one or more BF transmissions.

16. The apparatus of any one of claims 1-13, wherein the radar controller is configured to set a configuration of the BF transmission scheme to support a maximal (max) unambiguous Doppler level independent of a count of Tx antennas in the Tx antenna array.

17. The apparatus of any one of claims 1-13, wherein the radar controller is configured to control a duration of a Pulse Repetition Interval (PRI) of the sequence of transmission intervals independent of a count of Tx antennas in the Tx antenna array.MBE-P-02777-PC 18. The apparatus of any one of claims 1-13, wherein a duration of the beam transmission is less than 2 microseconds.

19. The apparatus of any one of claims 1-13, wherein the predefined Tx sub-array direction comprises an elevation direction.

20. The apparatus of any one of claims 1-13, wherein the one or more Tx antenna sub-arrays comprises one or more Tx antenna sub-array vertical columns.

21. The apparatus of any one of claims 1-13, wherein the radar Tx signals are in a frequency band above 40 Gigahertz (GHz).

22. The apparatus of any one of claims 1-13, wherein the radar Tx signals are in a frequency bandwidth of 76-81 Gigahertz (GHz).

23. The apparatus of any one of claims 1-13 comprising a radar device, the radar device comprising the Tx antenna array, a Receive (Rx) antenna array to receive radar Rx signals based on the radar Tx signals, and a radar data processor to generate radar information based on the radar Rx signals.

24. A product comprising one or more tangible computer-readable non-transitory storage media comprising instructions operable to, when executed by at least one processor, enable the at least one processor to cause a radar device to: generate control signals to control transmission of radar Transmit (Tx) signals via a Tx antenna array according to a Beamforming (BF) transmission scheme, the BF transmission scheme comprising a sequence of transmission intervals, a transmission interval comprising at least one beam transmission via one or more Tx antenna sub- arrays of the Tx antenna array, wherein a Tx antenna sub-array of the one or more Tx antenna sub-arrays comprises a plurality of Tx antennas along a predefined Tx sub- array direction, wherein the sequence of transmission intervals corresponds to a respective sequence of Tx angles along the predefined Tx sub-array direction, wherein a beam transmission in a transmission interval corresponding to a Tx angle comprises one or more BF transmissions from the one or more Tx antenna sub-arrays, the one or more BF transmissions beamformed based on the Tx angle; and output the control signals.MBE-P-02777-PC 25. The product of claim 24, wherein the instructions, when executed, cause the radar device to process radar Receive (Rx) data, the radar Rx data based on radar Rx signals received by an Rx antenna array based on the radar Tx signals, wherein processing of the radar Rx data is based on an arrangement of the Rx antenna array comprising a plurality of Rx antennas along a predefined Rx array direction perpendicular to the Tx sub-array direction.

26. A vehicle comprising: a system controller configured to control one or more vehicular systems of the vehicle based on radar information; and a radar system configured to provide the radar information to the system controller, the radar system comprising: a Transmit (Tx) antenna array; an Receive (Rx) antenna array; a controller configured to generate control signals to control transmission of radar Transmit (Tx) signals via the Tx antenna array according to a Beamforming (BF) transmission scheme, the BF transmission scheme comprising a sequence of transmission intervals, a transmission interval comprising at least one beam transmission via one or more Tx antenna sub- arrays of the Tx antenna array, wherein a Tx antenna sub-array of the one or more Tx antenna sub-arrays comprises a plurality of Tx antennas along a predefined Tx sub-array direction, wherein the sequence of transmission intervals corresponds to a respective sequence of Tx angles along the predefined Tx sub-array direction, wherein a beam transmission in a transmission interval corresponding to a Tx angle comprises one or more BF transmissions from the one or more Tx antenna sub-arrays, the one or more BF transmissions beamformed based on the Tx angle; and a processor configured to generate processed radar data by processing radar Rx data, the radar Rx data based on radar Rx signals received by the Rx antenna array based on the radar Tx signals, wherein the radar information is based on the processed radar data.

27. The vehicle of claim 26, wherein the one or more Tx antenna sub-arrays comprises a plurality of Tx antenna sub-arrays, wherein the transmission intervalMBE-P-02777-PC comprises a sequence of a plurality of beam transmissions via the plurality of Tx antenna sub-arrays.

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