Multi-in-multi-out radar device and method for scanning at least one moving object and estimating the probability of the object in a three-dimensional surrounding space

Abstract

A multi-in, multi-out (MIMO) radar device that scans for at least one moving object and estimates the probability of the at least one moving object in a three-dimensional surrounding space includes multiple transmitters and multiple receivers. The multiple transmitters emit electromagnetic signals into the three-dimensional surrounding space with a predetermined time delay, and the emitted electromagnetic signals are modulated with a unique random sequence. The multiple receivers receive the electromagnetic signals reflected by at least one moving object in the three-dimensional surrounding space, and each receiver includes multiple matched filters corresponding to the multiple transmitters, each of which acquires the electromagnetic signal with a predetermined time delay from the corresponding transmitter and outputs a value. A processor aggregates the values ​​output by the matched filters of each receiver and calculates the probability that at least one moving object exists in the three-dimensional surrounding space.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Application No. 18 / 092076, filed December 30, 2022, and incorporates the contents of that application by reference. [Technical Field]

[0002] The present invention relates to the technical field of wireless communication, and more particularly to a multi-in multi-out (MIMO) radar device for scanning at least one moving object and estimating the probability of the object in a three-dimensional surrounding space, and a method for scanning at least one moving object in a three-dimensional surrounding space using a random sequence MIMO radar array. [Background technology]

[0003] High-resolution 3D and 4D scans with velocity estimation can be performed using technologies such as laser radar and cameras. However, both of these solutions are dependent on weather conditions, and the cost of laser radar can be high. Furthermore, these applications use analog or digital modulation, which can only achieve low resolution. Furthermore, the number of vehicles using conventional radars is increasing, and conventional radars can interfere with other radars in neighboring vehicles, making it difficult to achieve high resolution. To address the shortcomings of analog modulation in conventional radars, a digital modulation method applied to radar is proposed. Summary of the Invention

[0004] In view of the above, the present invention relates to a multiple-in multiple-out (MIMO) radar device for scanning at least one moving object and estimating the probability of the object in a 3D surrounding space, and a method for scanning at least one moving object in a 3D surrounding space using a random sequence MIMO radar array.

[0005] A first aspect of the present application provides a multiple-in multiple-out (MIMO) radar device that scans for at least one moving object and estimates the probability that the at least one moving object exists in a three-dimensional surrounding space. The MIMO radar device includes: a plurality of transmitters that emit electromagnetic signals into the three-dimensional surrounding space with a predetermined time delay, the emitted electromagnetic signals being modulated with a unique random sequence; a plurality of receivers that receive the electromagnetic signals reflected by at least one moving object in the three-dimensional surrounding space, each receiver having a plurality of matched filters corresponding to the plurality of transmitters, each of the plurality of matched filters configured to acquire the electromagnetic signals with a predetermined time delay from the corresponding transmitter and output a value; and a processor that aggregates the values ​​output by the matched filters of each receiver and calculates the probability that at least one moving object exists in the three-dimensional surrounding space.

[0006] In one embodiment of the first aspect, a MIMO radar device for scanning at least one moving object in a 3D surrounding space is disclosed, including a MIMO radar device for scanning at least one moving object in a 3D surrounding space, and a method for scanning at least one moving object in a 3D surrounding space using a random sequence MIMO radar array, the random sequence MIMO radar array having a plurality of transmitters for emitting electromagnetic waves to at least one moving object in the space and a plurality of receivers for receiving electromagnetic wave signals reflected by the at least one moving object, each receiver having a plurality of matched filters corresponding to the plurality of transmitters, each matched filter of each receiver acquiring electromagnetic wave signals with a predetermined time delay from the corresponding transmitter and outputting a value, and a processor summing up the values ​​output by each matched filter of each receiver to calculate a 3D cube summation result indicating the presence probability of the at least one moving object in the space.

[0007] According to one embodiment of the first aspect, each transmitter comprises a random sequence generator for generating baseband signals having unique random sequences that are uncorrelated with each other.

[0008] According to one embodiment of the first aspect, each transmitter further includes a pulse shaping filter, an upconverter, a power amplifier, and a transmitting antenna, wherein the pulse shaping filter shapes the baseband signal with the unique random sequence generated by the random sequence generator to obtain a shaped signal within a predetermined bandwidth, the upconverter modulates the carrier frequency of the shaped baseband signal to obtain a converted signal within a desired radio frequency (RF) band, the power amplifier amplifies the converted signal and generates an electromagnetic wave signal to be emitted, and the transmitting antenna emits the electromagnetic wave signal.

[0009] According to an embodiment of the first aspect, each receiver comprises a receiving antenna for receiving an electromagnetic wave signal reflected by at least one moving object, and a low noise amplifier (LNA) for amplifying the electromagnetic wave signal.

[0010] According to one embodiment of the first aspect, each of the matched filters of each receiver receives a signal having a unique random sequence from a corresponding transmitter, and filters signals from other transmitters to output a plurality of values.

[0011] According to one embodiment of the first aspect, each receiver further comprises a significant mismatch filter that is mismatched to the unique random sequence of any of the transmitters, and the significant mismatch filter is configured to integrate the integrated noise and interference levels of the receiver, and the weight of the calculated probability that at least one moving object is present in the three-dimensional surrounding space becomes smaller as the integrated noise and interference levels of the receiver become higher.

[0012] According to one embodiment of the first aspect, the plurality of transmitters and the plurality of receivers are both antenna arrays.

[0013] According to one embodiment of the first aspect, the number of matched filters in each receiver is equal to the number of transmitters, and each receiver outputs a plurality of values, the number of matched filters corresponding to at least the number of transmitters, and a processor accumulates the plurality of values ​​output from the plurality of receivers and calculates the probability that a moving object exists in each three-dimensional cube in the three-dimensional surrounding space.

[0014] According to one embodiment of the first aspect, the three-dimensional surrounding space is divided into a plurality of three-dimensional cubes based on distance, vertical angle and horizontal angle, and the three-dimensional cubes include a plurality of values ​​output from a plurality of matched filters.

[0015] According to one embodiment of the first aspect, each of the matched filters of each receiver is an integrator, the plurality of transmitters and the plurality of receivers are microwave radars, and the electromagnetic wave signal is a microwave signal generated and emitted by the microwave radar.

[0016] A second aspect of the present application provides a method for scanning at least one moving object using a multi-in, multi-out (MIMO) radar device having a plurality of transmitters and a plurality of receivers, and estimating the probability that the at least one moving object exists in a three-dimensional surrounding space, the method comprising the steps of: emitting an electromagnetic wave signal into the three-dimensional surrounding space with a predetermined time delay, and modulating the emitted electromagnetic wave signal with a unique random sequence; receiving the electromagnetic wave signal reflected by at least one moving object in the three-dimensional surrounding space, each of the receivers having a plurality of matched filters corresponding to the plurality of transmitters, acquiring the electromagnetic wave signal with a predetermined time delay from the corresponding transmitter, and outputting a value; and aggregating the values ​​output by the matched filters of each of the receivers, and calculating the probability that at least one moving object exists in the three-dimensional surrounding space.

[0017] According to one embodiment of the second aspect, each transmitter comprises a random sequence generator for generating baseband signals having unique random sequences that are uncorrelated with each other.

[0018] According to one embodiment of the second aspect, each transmitter further comprises a pulse shaping filter, an upconverter, a power amplifier, and a transmitting antenna, and the method further comprises the steps of: shaping, by the pulse shaping filter, the baseband signal using the unique random sequence generated by the random sequence generator to obtain a shaped signal within a predetermined bandwidth; modulating, by the upconverter, the carrier frequency of the shaped baseband signal to obtain a converted signal within a desired radio frequency (RF) band; amplifying, by the power amplifier, the converted signal and generating and emitting an electromagnetic wave signal; and emitting, by the transmitting antenna, the electromagnetic wave signal.

[0019] According to one embodiment of the second aspect, each receiver further comprises a receiving antenna and a low noise amplifier (LNA), and the method further comprises the steps of receiving, by the receiving antenna, an electromagnetic wave signal reflected by at least one moving object, and amplifying, by the LNA, the electromagnetic wave signal.

[0020] According to an embodiment of the second aspect, the method further comprises the step of obtaining a signal having a unique random sequence from a corresponding transmitter, and filtering signals from other transmitters to output a value.

[0021] According to one embodiment of the second aspect, each receiver further comprises a significant mismatch filter that is mismatched with the unique random sequence of any of the transmitters, and the method further integrates the integrated noise and interference levels of the receiver by the significant mismatch filter, and the weight of the calculated probability that at least one of the moving objects exists in the three-dimensional surrounding space becomes smaller as the integrated noise and interference levels of the receiver become higher.

[0022] According to one embodiment of the second aspect, the plurality of transmitters and the plurality of receivers are both antenna arrays.

[0023] According to one embodiment of the second aspect, the number of matched filters in each receiver is equal to the number of transmitters, and the method further comprises the steps of outputting a plurality of values, the number of which corresponds to at least the number of matched filters, and accumulating the plurality of values ​​output from the plurality of receivers to calculate the probability that a moving object exists in each three-dimensional cube in the three-dimensional surrounding space.

[0024] According to one embodiment of the second aspect, the three-dimensional surrounding space is divided into a plurality of three-dimensional cubes according to distance, vertical angle and horizontal angle, and the three-dimensional cubes contain a plurality of values ​​output from a plurality of matched filters.

[0025] According to one embodiment of the second aspect, each of the matched filters of each receiver is an integrator, the plurality of transmitters and the plurality of receivers are microwave radars, and the electromagnetic signal is a microwave signal generated and emitted by the microwave radar. [Brief explanation of the drawings]

[0026] Many aspects of the present specification can be better understood with reference to the following drawings, in which components are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the present application, and in which the same reference numerals designate corresponding parts in several views.

[0027] [Figure 1] 1 is a schematic diagram of a multi-in multi-out (MIMO) radar device provided in an embodiment of the present invention for scanning moving objects in space.

[0028] [Figure 2] FIG. 2 is a schematic diagram of a transmitter of the device shown in FIG.

[0029] [Figure 3] FIG. 2 is a schematic diagram of a receiver of the device shown in FIG. 1.

[0030] [Figure 4A] 1 is a schematic diagram of a matched filter of an apparatus according to an embodiment of the present application;

[0031] [Figure 4B] FIG. 1 illustrates a transmitter transmitting a unique random sequence to a receiver according to an embodiment of the present application.

[0032] [Figure 5] FIG. 1 is a conceptual diagram of a significant mismatch filter of an apparatus according to an embodiment of the present application.

[0033] [Figure 6] FIG. 10 is a diagram illustrating a three-dimensional cube tally of the output of a receiver according to an embodiment of the present application.

[0034] [Figure 7] 1 is a schematic diagram of a MIMO radar device for scanning at least one moving object in space provided by an embodiment of the present application;

[0035] [Figure 8] 1 is a flowchart of a method for scanning at least one moving object in a space according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0036] For simplicity and clarity of description, reference numerals may be repeated, where necessary, in different figures to indicate corresponding or similar elements. Numerous specific details are set forth to facilitate an understanding of the present embodiments. However, those skilled in the art will understand that the embodiments described herein can be practiced without these specific details. In other instances, details of methods, processes, and components are not provided so as to avoid obscuring the relevant features being described. Furthermore, the description should not be construed as limiting the scope of the embodiments described herein. It should be noted that the drawings are not necessarily drawn to scale, and some of the drawings may be exaggerated to better illustrate the details and features of the present disclosure.

[0037] The present disclosure includes, but is not limited to, the drawings, which illustrate, by way of example only. Several definitions are proposed that should be applied throughout the present disclosure. Note that references to "one" embodiment in this disclosure do not necessarily refer to the same embodiment, but rather to "at least one."

[0038] Also, as used herein, the term "module" refers to logic manifested in hardware or firmware, or to a collection of software instructions written in a programming language, such as Java, C, or assembly language. One or more of the software instructions of a module may be embedded in firmware, for example, embedded in an EPROM. The modules described herein may be implemented as software and / or hardware modules and may be stored on any type of non-transitory computer-readable recording medium or another storage device. Some examples of non-transitory computer-readable recording media include, for example, CDs, DVDs, Blu-rays, flash memory, and hard disk drives. The term "comprises" means "including but not necessarily limited to," and particularly refers to non-limiting inclusion or inclusion in so-called combinations, groups, series, etc.

[0039] FIG. 1 illustrates a multiple-input multiple-output (MIMO) radar device 100 that scans a three-dimensional surrounding space for at least one moving object and estimates the probability of the object being present in the three-dimensional surrounding space. The at least one moving object may be one or more moving objects in the three-dimensional surrounding space. In one embodiment, the device 100 is used for autonomous driving, robots, indoor, underground, tunnel space measurement or exploration, etc. In another embodiment, and to further illustrate, the device 100 may be disposed in a vehicle such as an automobile.

[0040] The apparatus 100 comprises a transmit antenna array 10 , a receive antenna array 20 , and at least one processor 30 .

[0041] The transmitting antenna array 10 includes a plurality of transmitters 12 that transmit electromagnetic signals into a three-dimensional surrounding space with a predetermined time delay. The electromagnetic signals transmitted from the transmitters 12 are reflected by at least one moving object in the three-dimensional surrounding space.

[0042] The receiving antenna array 20 includes a plurality of receivers 22 that receive electromagnetic wave signals reflected by at least moving objects, acquire electromagnetic wave signals with a predetermined time delay from the corresponding transmitters 12, and output values.

[0043] In one embodiment, each transmitter 12 may emit an electromagnetic wave signal toward at least one moving object in the three-dimensional surrounding space with a predetermined time delay, and each receiver 22 may receive the electromagnetic wave signal reflected by one or more moving objects of each transmitter 12. In another embodiment, each transmitter 12 may emit an electromagnetic wave signal toward several moving objects in the three-dimensional surrounding space with a predetermined time delay, and each receiver 22 may receive the electromagnetic wave signal reflected by several moving objects of each transmitter 12.

[0044] The at least one processor 30 is electrically connected to the transmitting antenna array 10 and the receiving antenna array 20. The at least one processor 30 is configured to aggregate the values ​​output by the receiver 22 and calculate a 3D cube aggregate result indicative of the probability that at least one moving object is present in the 3D surrounding space.

[0045] In one embodiment, the transmitter 12 may be a transmitting antenna or a transmitting radar, and the receiver 22 may be a receiving antenna or a receiving radar. The transmitter 12 and the receiver 22 may be located in a known position, such as the front or ceiling of the vehicle. In one embodiment, the transmitter 12 and the receiver 22 are mounted, for example, on the windshield of the automobile and scan at least one moving object in front of the automobile. In one embodiment, the transmitter 12 and the receiver 22 may be a microwave radar, and the electromagnetic wave signal may be a microwave signal generated and emitted by the microwave radar.

[0046] In one embodiment, the apparatus 100 includes M (M is a positive integer greater than or equal to 2) transmitters 12 and N (N is a positive integer greater than or equal to 2) receivers 22, where the M transmitters 12 and N receivers 22 may comprise an M*N antenna array or radar array. In at least one embodiment, the M transmitters 12 may be TX 1 (transmitter 1), TX 2, .., TX m, .., TX M. The N receivers 22 may be RX 1 (receiver 1), RX 2, .., RX n, .., RX N. M and N are both positive integers greater than or equal to 2, m is any positive integer between 1 and M, and n is any positive integer between 1 and N.

[0047] 1 and 2, each transmitter 12 may include a random sequence generator 13, a pulse shaping filter 14, an upconverter 15, a power amplifier 16, and a transmitting antenna 17. The random sequence generator 13, the pulse shaping filter 14, the upconverter 15, the power amplifier 16, and the transmitting antenna 17 are electrically connected in series.

[0048] The random sequence generator 13 generates a baseband signal having a unique random sequence. In one embodiment, the random sequence generator 13 generates the baseband signal having a unique random sequence based on a seed. A uniquely different seed can be selected for each transmitter 12 among all transmitters 12, so that the random sequences generated by different transmitters 12 are uncorrelated and unique. In another embodiment, the seed may derive a value from some random attribute of the device 100's hardware, or from a hash function by manipulating a specific hardware identifier, a system clock, a transmitter identifier, or the like. In another embodiment, the baseband signal having a unique random sequence is quasi-unique and orthogonal. Each transmitter 12 synchronously synchronizes its own random sequence to the receiver 22 in the device 100. Thus, each receiver 22 in the device 100 receives a unique random sequence from each transmitter 12 and can identify the electromagnetic signal transmitted by each transmitter 12 from the unique random sequence.

[0049] The pulse shaping filter 14 shapes the baseband signal with the unique random sequence generated by the random sequence generator 13 to obtain a shaped signal within a predetermined bandwidth. In one embodiment, the baseband signal with the unique random sequence generated by the random sequence generator 13 is shaped from a quadrature wave to a sine wave.

[0050] The upconverter 15 modulates the carrier frequency of the shaped baseband signal to obtain a converted signal within a desired radio frequency (RF) band. In one embodiment, the baseband signal within a predetermined bandwidth after shaping by the pulse shaping filter 14 is modulated to obtain a converted signal within a desired RF band, thereby improving transmission efficiency.

[0051] The power amplifier 16 amplifies the converted signal to generate an electromagnetic wave signal, which is then emitted from the transmitting antenna 17 .

[0052] The transmitting antenna 17 emits an electromagnetic wave signal.

[0053] 1 and 3, each receiver 22 may include a receiving antenna 23, a low noise amplifier (LNA) 24, a baseband filter (BPF) 25, a frequency down converter 26, a low pass filter (LPF) 27, a plurality of matched filters 28, and an intentional unmatched filter 29. The receiving antenna 23, the LNA 24, the BPF 25, the down converter 26, the LPF 27, and the plurality of matched filters 28 are electrically connected in series, and the plurality of matched filters 28 and the intentional unmatched filter 29 are electrically connected in parallel.

[0054] The receiving antenna 23 receives at least the electromagnetic wave signal reflected by a moving object.

[0055] The LNA 24 amplifies the electromagnetic wave signal received from the receiving antenna 23 .

[0056] The BPF 25 is used to remove unwanted interference outside the desired RF band from the electromagnetic wave signal.

[0057] The downconverter 26 demodulates the electromagnetic wave signal within the desired RF band to obtain a unique baseband signal of a random sequence.

[0058] The LPF 27 filters out the noise signal from the baseband signal and outputs the filtered baseband signal having a unique random sequence to a plurality of matched filters 28 .

[0059] The multiple matched filters 28 in each receiver 22 correspond to the multiple transmitters 12. The number of matched filters 28 in each receiver 22 is equal to the number of transmitters 12. For example, if the apparatus 100 includes M transmitters 12 (M is a positive integer greater than or equal to 2), each of the multiple receivers 22 includes the same number (M) of matched filters 28, one for each transmitter 12. In at least one embodiment, each of the multiple receivers 22 includes the same number (M) of matched filters 28, such as a matched filter for TX 1, a matched filter for TX 2, ..., a matched filter for TX m, ..., a matched filter for TX M, etc.

[0060] 1, 3, and 4A, the plurality of matched filters 28 of each of the plurality of receivers 22 are configured to acquire an electromagnetic wave signal with a predetermined time delay from a corresponding transmitter 12 and output a value. In one embodiment, the transmitter 12, for example, emits an electromagnetic wave signal into a three-dimensional surrounding space and reflects at least a portion of the electromagnetic wave signal off a moving object in the three-dimensional surrounding space. Therefore, one of the plurality of matched filters 28 can acquire an electromagnetic wave signal with a predetermined time delay from a corresponding transmitter 12 (or a target transmitter 12) (meaning that the matched filter 28 can acquire an electromagnetic wave signal with a predetermined time delay, such as 100 milliseconds, 200 milliseconds, or 500 milliseconds (the present invention is not limited thereto)) and reject other electromagnetic wave signals from other transmitters 12. The matched filter 28 acquires the electromagnetic wave signal with a predetermined time delay from each transmitter 12 and then outputs a value. In one embodiment, the matched filter 28 may output a value based on characteristics of the electromagnetic wave signal (e.g., signal strength or spatial information of the electromagnetic wave signal). The value output by the matched filter 28 is positively correlated with the characteristics of the electromagnetic signal. In one embodiment, the value output by the matched filter 28 indicates the similarity between the received baseband signal and the unique random sequence transmitted by the corresponding transmitter 12 (or target transmitter 12). The higher the value output by the matched filter 28, the more likely the received baseband signal contains a reflected signal from the corresponding transmitter 12 (or target transmitter 12).

[0061] In one embodiment, when a moving object moves in the three-dimensional surrounding space, the characteristics of the electromagnetic wave signal reflected by at least one moving object in the three-dimensional surrounding space may change dynamically. In one embodiment, the spatial information may include distance, azimuth angle, elevation angle, and derived velocity. Therefore, the value output by the matched filter 28 can be used to estimate the motion of the moving object.

[0062] In one embodiment, each matched filter 28 in each receiver 22 may output a value, so that the matched filters 28 in all receivers 22 may output multiple values. For example, M (M is a positive integer greater than or equal to 2) matched filters 28 in N (N is a positive integer greater than or equal to 2) receivers 22 may output M*N values.

[0063] In one embodiment, each matched filter 28 of each receiver 22 obtains a unique random sequence of electromagnetic signals and identifies the electromagnetic signals from the corresponding transmitter 21 .

[0064] Referring to FIG. 4A, each of the matched filters 28 may include a sequence generator 282 and multiple integrators. The sequence generator 282 is configured to receive a unique random sequence synchronized by each transmitter 12. In at least one embodiment, the matched filter of TX m receives the unique random sequence synchronized by each transmitter m (TX m) as input and can obtain an electromagnetic wave signal with a predetermined time delay transmitted from each transmitter m (TX m). The electromagnetic wave signal from the corresponding transmitter 12 is given a predetermined time delay and transmitted to an integrator, which outputs a value. Each integrator obtains an electromagnetic wave signal with a different predetermined time delay, thereby individually obtaining different electromagnetic wave signals with predetermined time delays.

[0065] Referring to FIG. 4B , in one embodiment, the device 100 includes two transmitters, such as transmitter 1 (TX1) and transmitter 2 (TX2), and two receivers, such as receiver 1 (RX1) and receiver 2 (RX2). Note that the device 100 includes M transmitters and N receivers as shown in FIG. 1 , and the description can be understood by taking the two transmitters and two receivers in the device 100 shown in FIG. 4B as an example. The transmitter 1 (TX1) may generate a first unique random sequence (RS#1) and synchronize it with the receiver 1 (RX1) and receiver 2 (RX2) of the device 100. The transmitter 1 (TX1) also transmits an electromagnetic wave signal including the first unique random sequence (RS#1) into the three-dimensional surrounding space. The matched filters corresponding to transmitter 1 (TX1) for receiver 1 (RX1) and receiver 2 (RX2) of the device 100 can obtain a first unique random sequence synchronized to transmitter 1 (TX1) and identify the received electromagnetic wave signal transmitted by transmitter 1 (TX1) and reflected by a moving object in the three-dimensional surrounding space. Transmitter 2 (TX2) may generate a second unique random sequence (RS#2) and synchronize it to receiver 1 (RX1) and receiver 2 (RX2) of the device 100. Transmitter 2 (TX2) also transmits an electromagnetic wave signal including the second unique random sequence (RS#2) into the three-dimensional surrounding space. The matched filters corresponding to transmitter 2 (TX2) for each of receiver 1 (RX 1) and receiver 2 (RX 2) of this device 100 can obtain a second unique random sequence (RS#2) synchronized with transmitter 2 (TX2) and identify the received electromagnetic wave signal transmitted by transmitter 2 (TX2) and reflected by a moving object in the three-dimensional surrounding space.

[0066] The significant mismatch filter 29 is not matched to any of the unique random sequences of the transmitters 12. The significant mismatch filter 29 integrates the integrated noise and interference levels of the receiver 22. The noise and interference are not recognized by the matched filter 28. Because the significant mismatch filter 29 obtains the noise and interference, the significant mismatch filter 29 can measure and accumulate the integrated noise and interference levels along the signal path of each transmitter-receiver pair. In one embodiment, the weight of the calculated probability that at least one of the moving objects is present in the three-dimensional surrounding space is smaller when the integrated noise and interference levels of the receiver 22 are higher, and the weight of the calculated probability that at least one of the moving objects is present in the three-dimensional surrounding space is larger when the integrated noise and interference levels of the receiver 22 are lower. For example, if the integrated noise and interference level of the first receiver 22 is higher than the integrated noise and interference level of the second receiver 22, the weight of the probability calculated by the first receiver 22 that at least one of the moving objects exists in the three-dimensional surrounding space is smaller than the weight of the probability calculated by the second receiver 22 that at least one of the moving objects exists in the three-dimensional surrounding space.

[0067] Referring to FIG. 5, in one embodiment, each significant mismatch filter 29 may be an integrator that sums noise and interference in the electromagnetic signal received from LPF 27 .

[0068] Fig. 6 shows a three-dimensional cubic tally of the output of receiver 22 according to an embodiment of the present application. Fig. 7 shows a schematic diagram of a MIMO radar device for scanning moving objects in a three-dimensional surrounding space according to another embodiment of the present application. Fig. 7 is an overall schematic diagram of Figs. 1 to 6.

[0069] 1, 6, and 7, at least one processor 30 calculates a three-dimensional cube aggregation result by accumulating values ​​output from the matched filters 28 of all receivers 22 to indicate the probability of the presence of a moving object in the three-dimensional surrounding space. In one embodiment, the three-dimensional cube aggregation result corresponds to the three-dimensional surrounding space, and the three-dimensional cube aggregation result may include multiple grids corresponding to small spatial units in the three-dimensional surrounding space. Each grid corresponds to one matched filter 28 of one receiver 22, and each grid of the 3D cueing result includes a value output from one matched filter 28 of one receiver 22. In one embodiment, the value of each grid of the three-dimensional cube aggregation result may be a signal power level indicating whether or not an electromagnetic wave signal reflected by at least one moving object is obtained. As a result, the matched filters 28 of all receivers 22 can output M*N values ​​to form a grid of the planar aggregation result, and the matched filters 28 of all receivers 22 can output M*N values ​​with a predetermined time delay to form all grids of the three-dimensional cube aggregation result. Therefore, the value of the three-dimensional cube counting result can be used to display at least one probability that a moving object exists in the three-dimensional surrounding space, and can be used for observation. As shown in Figure 6, in one embodiment, the value of each grid of the three-dimensional cube counting result may be 8 levels (3 digits) or 16 levels (4 digits) of existence probability (0 to 1).

[0070] In other embodiments, the three-dimensional surrounding space may be divided into multiple three-dimensional cubes according to distance, vertical angle, and horizontal angle, and the three-dimensional cubes contain the values ​​output from multiple matched filters 28.

[0071] In one embodiment, the M*N values ​​are combined into a total noise interference level, and the lower the total noise interference level, the better the scanning performance.

[0072] In one embodiment, each matched filter 28 detects whether there is at least one moving object within a specified 3D cube (3D surrounding space) at a predetermined time delay. If the received baseband signal (after demodulation) is a reflected replica of each transmitted signal (with a unique random sequence and a known predetermined time delay), this is clear evidence that there is at least one moving object within the 3D cube. A large value output by matched filter 28 indicates a high probability that there is a moving object within the 3D cube.

[0073] In one embodiment, the at least one processor 30 may be implemented by an integrated circuit, such as a single integrated circuit or multiple integrated circuits having the same or different functions. The at least one processor 30 may be implemented by, but is not limited to, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a graphics processor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a data processor chip, a programmable logic device (PLD), a discrete gate / transistor logic device, or a discrete hardware component. The processor 30 may be a control unit and may be electrically connected to other components of the device 100 via an interface or bus. In one embodiment, various non-transitory computer-readable media stored in the memory of device 100 may be processed by at least one processor 30 to perform various functions, such as a method for scanning at least one moving object in a three-dimensional surrounding space.

[0074] In one embodiment, a method for scanning at least one moving object in a three-dimensional surrounding space using a MIMO radar device (device 100 shown in FIG. 1) is disclosed. These functions may be incorporated into the device of the method for scanning at least one moving object in a three-dimensional surrounding space. In another embodiment, the method for scanning at least one moving object in a three-dimensional surrounding space may operate within the device in the form of a software development kit.

[0075] This method is provided as an example because there are multiple ways to implement this method. Each block shown in FIG. 8 represents one or more processes, methods, or subroutines performed in the exemplary method. Also, the illustrated blocks are for illustrative purposes only, and the order of the blocks may be changed. Additional blocks may be added or fewer blocks may be used without departing from this disclosure. The exemplary method may begin with block 81.

[0076] Block 81 emits electromagnetic signals into a three-dimensional surrounding space by a plurality of transmitters 12, and the electromagnetic signals emitted by the plurality of transmitters 12 are modulated by a random sequence that is unique to each transmitter 12.

[0077] In at least one embodiment, the transmitter is transmitter 12 of device 100, and when an electromagnetic signal emitted from transmitter 12 reaches at least one moving object in the three-dimensional surrounding space, the electromagnetic signal can be reflected by the at least one moving object.

[0078] Block 82 receives, by a plurality of receivers 22 of device 100, electromagnetic signals reflected from at least one moving object.

[0079] In block 83, the plurality of matched filters 28 of the plurality of receivers 22 respectively acquire and output electromagnetic wave signals with a predetermined time delay from the corresponding transmitters.

[0080] In one embodiment, each receiver includes multiple matched filters 28 corresponding to multiple transmitters 12. In one embodiment, each matched filter 28 of each receiver 22 can output a value, so that the matched filters 28 of all receivers 22 can output multiple values, e.g., M*N values ​​(each receiver 22 of n receivers 22 has m matched filters 28, where m and n are positive integers greater than or equal to 2).

[0081] Block 84 integrates the combined noise and interference level of receiver 22 through significant mismatch filter 29 of receiver 22 .

[0082] In one embodiment, noise not captured by any of the matched filters 28 is intentionally captured by the significant mismatched filter 29 so that the significant mismatched filter 29 can measure and accumulate noise in the signal path of each transmitter-receiver pair.

[0083] Block 85 aggregates the values ​​output by the matched filters 28 of all receivers 22 with a given time delay to calculate a 3D cube aggregate result indicating the probability that at least one object is present in the 3D ambient space.

[0084] In one embodiment, all matched filters 28 of all receivers 22 output M*N values ​​to form a grid of planar summaries, and all output M*N values ​​with a predetermined time delay to form a grid of 3D cube summaries, which can then be used to indicate the probability that at least one moving object is present in space and can be used for observation.

[0085] In the MIMO radar device 100 for scanning at least one moving object in a three-dimensional surrounding space and the method for scanning at least one moving object in a three-dimensional surrounding space using a random sequence MIMO radar array according to the present application, the random sequence MIMO radar array has a plurality of transmitters 12 for emitting electromagnetic waves to at least one moving object in the space and a plurality of receivers 22 for receiving the electromagnetic wave signals reflected by the at least one moving object. Each receiver 22 has a plurality of matched filters 28 corresponding to the plurality of transmitters 12, and each matched filter 28 of each receiver 22 acquires the electromagnetic wave signal with a predetermined time delay from the corresponding transmitter 12 and outputs a value. A processor 30 calculates a three-dimensional cubic summation result by accumulating the values ​​output by each matched filter 28 of each receiver 22, thereby displaying the existence probability of at least one moving object in the space, and the result is precise and high-resolution.

[0086] The present application discloses a non-transitory computer-readable storage medium containing program instructions for causing an apparatus to perform a method for scanning at least one moving object in a space.

[0087] The present disclosure provides flowcharts and block diagrams illustrating the architecture, functions, and operations of systems, methods, and computer program products according to various embodiments. In this regard, each block in a flowchart or block diagram may represent a block, segment, or portion of one or more executable instructions for implementing a given logical function. In some alternative embodiments, the functions noted in the blocks may not occur in the order noted in the figures. For example, two consecutive blocks may be executed substantially simultaneously, or, depending on the functionality involved, the blocks may be executed in the reverse order. Furthermore, each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented in dedicated hardware-based systems that perform the given functions or operations, or may be implemented using dedicated hardware and computer instructions.

[0088] The above embodiments are merely for illustrating the technical solutions of the present invention and are not intended to be limiting. The present invention has been described in detail with reference to the above embodiments, but it should be understood that those skilled in the art can modify or equivalently replace the technical solutions of the present invention without departing from the spirit and scope of the present invention. Other modifications, etc., within the spirit of the present invention, may be used in the design of the present invention as long as they do not deviate from the technical effects of the present invention. All such changes based on the spirit of the present invention are encompassed within the scope of the present invention.

Claims

1. 1. A multi-in, multi-out (MIMO) radar device that scans at least one moving object and estimates a probability that the at least one moving object exists in a three-dimensional surrounding space, comprising: a plurality of transmitters each transmitting an electromagnetic wave signal into the three-dimensional surrounding space with a predetermined time delay, the transmitted electromagnetic wave signal being modulated with a unique random sequence; a plurality of receivers configured to receive the electromagnetic wave signals reflected by at least one moving object in the three-dimensional surrounding space, each of the receivers comprising a plurality of matched filters corresponding to the plurality of transmitters, each of the plurality of matched filters configured to acquire an electromagnetic wave signal having a predetermined time delay from a corresponding one of the transmitters and output a value; a processor that aggregates a plurality of values ​​output by the matched filters of each of the receivers and calculates the probability that at least one moving object is present in the three-dimensional surrounding space.

2. 2. The MIMO radar device according to claim 1, wherein each of the transmitters comprises a random sequence generator that generates baseband signals having unique random sequences that are uncorrelated with each other.

3. each said transmitter further comprising a pulse shaping filter, an up-converter, a power amplifier, and a transmit antenna; the pulse shaping filter shapes the baseband signal with the unique random sequence generated by the random sequence generator to obtain a shaped signal within a predetermined bandwidth; the up-converter modulates a carrier frequency of the shaped baseband signal to obtain a converted signal within a desired radio frequency (RF) band; the power amplifier amplifies the converted signal and generates an electromagnetic wave signal to be emitted; The MIMO radar device according to claim 1 , wherein the transmitting antenna emits the electromagnetic wave signal.

4. Each of the receivers comprises: a receiving antenna for receiving the electromagnetic wave signal reflected by at least one of the moving objects; 2. The MIMO radar device according to claim 1, further comprising: a low noise amplifier (LNA) that amplifies the electromagnetic wave signal.

5. 2. The MIMO radar device according to claim 1, wherein each of the matched filters of each of the receivers acquires a signal having the unique random sequence from a corresponding one of the transmitters and filters signals from other of the transmitters to output a value.

6. each said receiver further comprising a significant mismatch filter that is mismatched to the unique random sequence of any of said transmitters; the significant mismatch filter is configured to integrate an integrated noise and interference level at the receiver; 5. The MIMO radar device according to claim 4, wherein the weight of the calculated probability that at least one moving object exists in the three-dimensional surrounding space decreases as the integrated noise and interference levels of the receiver increase.

7. 2. The MIMO radar device according to claim 1, wherein the plurality of transmitters and the plurality of receivers are both antenna arrays.

8. the number of matched filters in each of the receivers is equal to the number of transmitters; each of the receivers outputs a number of matched filters corresponding to at least the number of the transmitters; 2. The MIMO radar device according to claim 1, wherein the processor accumulates a plurality of values ​​output from a plurality of the receivers and calculates the probability that a moving object exists in each three-dimensional cube in the three-dimensional surrounding space.

9. the three-dimensional surrounding space is divided into a plurality of the three-dimensional cubes based on distance, vertical angle, and horizontal angle; The MIMO radar device according to claim 8 , wherein the three-dimensional cube includes a plurality of values ​​output from a plurality of the matched filters.

10. 2. The MIMO radar device according to claim 1, wherein each of the matched filters of each of the receivers is an integrator, the plurality of transmitters and the plurality of receivers are microwave radars, and the electromagnetic wave signal is a microwave signal generated and emitted by the microwave radar.

11. 1. A method for estimating a probability of presence of at least one moving object in a three-dimensional surrounding space by scanning at least one moving object with a multi-in, multi-out (MIMO) radar device having multiple transmitters and multiple receivers, comprising: transmitting an electromagnetic wave signal into a three-dimensional ambient space with a predetermined time delay, the transmitted electromagnetic wave signal being modulated with a unique random sequence; receiving the electromagnetic wave signal reflected by at least one moving object in the three-dimensional surrounding space, each of the receivers comprising a plurality of matched filters corresponding to the plurality of transmitters; acquiring electromagnetic wave signals with a predetermined time delay from the corresponding transmitters and outputting a plurality of values; aggregating the values ​​output by the matched filters of each of the receivers and calculating the probability of the presence of at least one moving object in the three-dimensional ambient space.

12. 12. The method of claim 11, wherein each of the transmitters comprises a random sequence generator that generates baseband signals having unique random sequences that are uncorrelated with each other.

13. each said transmitter further comprising a pulse shaping filter, an up-converter, a power amplifier, and a transmit antenna; The method further comprises: shaping the baseband signal using the pulse shaping filter, utilizing the unique random sequence generated by the random sequence generator, to obtain a shaped signal within a predetermined bandwidth; modulating a carrier frequency of the shaped baseband signal by the upconverter to obtain a converted signal within a desired radio frequency (RF) band; amplifying the converted signal and generating and emitting an electromagnetic wave signal by the power amplifier; 12. The method of claim 11, further comprising the step of: emitting the electromagnetic wave signal by the transmitting antenna.

14. Each of the receivers further comprises a receive antenna and a low noise amplifier (LNA); The method further comprises: receiving, by the receiving antenna, the electromagnetic wave signal reflected by at least one of the moving objects; 12. The method of claim 11, further comprising: amplifying the electromagnetic wave signal with the LNA.

15. 12. The method of claim 11, comprising obtaining a signal having the unique random sequence from a corresponding one of the transmitters and filtering signals from other of the transmitters to output a plurality of values.

16. each said receiver further comprising a significant mismatch filter mismatched to the unique random sequence of any of said transmitters; The method further comprises: The method of claim 14, characterized in that the significant mismatch filter integrates the integrated noise and interference levels of the receiver, and the weight of the calculated probability that at least one moving object exists in the three-dimensional surrounding space becomes smaller as the integrated noise and interference levels of the receiver become higher.

17. 12. The method of claim 11, wherein the plurality of transmitters and the plurality of receivers are both antenna arrays.

18. the number of matched filters in each of the receivers is equal to the number of transmitters; The method further comprises: outputting a number of said matched filters corresponding to at least the number of said transmitters; 12. The method of claim 11, further comprising accumulating a plurality of values ​​output from a plurality of the receivers and calculating a probability that a moving object exists in each three-dimensional cube in the three-dimensional surrounding space.

19. The three-dimensional surrounding space is divided into a plurality of three-dimensional cubes according to distance, vertical angle, and horizontal angle; 20. The method of claim 18, wherein the 3D cube comprises a plurality of values ​​output from a plurality of the matched filters.

20. 12. The method of claim 11, wherein each of the matched filters of each of the receivers is an integrator, the plurality of transmitters and the plurality of receivers are microwave radars, and the electromagnetic wave signal is a microwave signal generated and emitted by the microwave radar.

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