Radar for fully autonomous driving / Matt Markel.

Format:

Book

Author/Creator:

Markel, Matt, author.

Language:

English

Subjects (All):

Automated vehicles.

Radar.

Physical Description:

1 online resource (339 pages)

Edition:

First edition.

Place of Publication:

Norwood, MA : Artech House, [2022]

Summary:

This is the first book to bring together the increasingly complex radar automotive technologies and tools being explored and utilized in the development of fully autonomous vehicles- technologies and tools now understood to be essential for the field to fully mature. You'll get a big-picture tour of the key radar needs for fully autonomous vehicles, and how achieving these needs is complicated by the automotive environment's dense scenes, number of possible targets of interest, and mix of very large and very small returns. You'll then be shown the challenges from and mitigations to radio frequency interference, an ever-increasing challenge as the number of vehicles with radars-and radars per vehicle-grow.

Contents:

Intro

Radar for Fully Autonomous Driving

Contents

Part I: Radar Technologies for Autonomous Vehicles

Chapter 1 Modern Radar Sensors in Advanced Automotive Architectures

1.1 Inspiration for More Advanced Systems

1.1.1 Traffic Density and Fatal Accident Rate

1.1.2 Human Factor

1.1.3 Autonomous Driving Levels

1.2 The Evolving Automotive Radar Landscape

1.3 Fast Chirp Sequence Radar Sensing

1.4 RFCMOS Car Radar Transceiver

1.5 Elements of a Radar Module

1.6 Angular Resolution Increase: MIMO Example and Cascaded Application

1.7 Vehicle Network and Compute Considerations

1.7.1 Vehicle Network Architecture Evolution

1.7.2 Distributed Versus Centralized Processing

1.7.3 Conclusion

1.8 Summary

1.9 Acknowledgments

References

Chapter 2 Design Considerations for Automotive Radar

2.1 Radar Requirements

2.2 The Spectrum for Automotive Radar

2.3 Range (Distance) Required for Automotive Radar

2.4 Automotive Radar Installation

2.5 Automotive Radar Considerations for Scanning the FOV

2.6 Frequency Modulation Waveforms and the Radar Data Cube

2.7 Outputs from Automotive Radar

Chapter 3 Digital Code Modulation

3.1 Introduction

3.2 FCM Versus DCM Architecture

3.3 Basics of DCM Radar

3.3.1 Range Processing

3.3.2 Velocity Processing

3.3.3 Angle Processing

3.4 DCM Radar Attributes

3.4.1 High Contrast Distance: Matched Filter

3.4.2 High Contrast Resolution

3.4.3 CDM MIMO (Higher Power on Target)

3.4.4 Interference Robustness and Interference Mitigation

3.4.5 Cascading: Coherent and Quasi-coherent Sensors and Networks

3.4.6 Code Design

3.5 DCM Radar Implementation

Chapter 4 Automotive MIMO Radar

4.1 Virtual Array Synthesis via MIMO Radar

4.2 Waveform Orthogonality Strategies in Automotive MIMO Radar.

4.2.1 Waveform Orthogonality via TDM

4.2.2 Waveform Orthogonality via DDM

4.2.3 Waveform Orthogonality via FDM

4.3 Angle Finding in Automotive MIMO Radar

4.3.1 High Resolution Angle Finding with ULA

4.3.2 High Resolution Angle Finding with SLA

4.4 High Resolution Imaging Radar for Autonomous Driving

4.4.1 Cascade of Multiple Radar Transceivers

4.4.2 Examples of Cascaded Imaging Radars

4.4.3 Design Challenges of Imaging Radar

4.5 Challenges in Automotive MIMO Radar

4.5.1 Angle Finding in the Presence of Multipath Reflections

4.5.2 Waveform Orthogonality in Automotive MIMO Radar

4.5.3 Efficient, High Resolution Angle Finding Algorithms Are Needed

Chapter 5 Synthetic Aperture Radar for Automotive Applications

5.1 Introduction

5.1.1 Historical Background

5.1.2 Comparison to Traditional Radar Systems

5.1.3 SAR and Point Cloud Imaging Performance

5.1.4 Applications for Automotive Use

5.2 Mathematical Foundation

5.2.1 Key Assumptions

5.2.2 Signal Model

5.2.3 Slow Time

5.3 Building an Automotive SAR

5.3.1 Measuring Ego-Motion

5.3.2 SAR Image Formation

5.3.3 Coexistence with Point Cloud Pipeline

5.3.4 Elevation Information

5.4 Future Directions

5.4.1 Forward-Facing SAR

5.4.2 SAR for Moving Objects

5.4.3 Gapped SAR

5.5 Conclusion

Chapter 6 Radar Transceiver Technologies

6.1 Background and Introduction to Automotive Radar

6.2 Block Diagram Overview of an FMCW Radar Transceiver

6.3 Challenges with Deeply Scaled CMOS

6.4 Active Devices in CMOS

6.5 Passives in CMOS

6.6 Circuit Architectures Suitable for Advanced CMOS

6.6.1 The Transmit Power Amplifier

6.6.2 The TX Phase Shifter

6.7 The LO/FMCW Chirp Generator

6.8 The Receiver Signal Chain

6.8.1 RX Frontend

6.8.2 Radar RX Baseband

6.9 Summary.

References

Part 2: Challenges and Solutions for the Automotive Environment

Chapter 7 Radar Challenges from the Automotive Scene

7.1 Introduction

7.1.1 Range Swath

7.1.2 Imaging Dense Clutter

7.1.3 Simultaneous Transmit and Receive

7.2 Scene Dynamic Range

7.3 Ground Bounce (Unresolved Reflections)

7.4 Multipath (Resolved Reflections)

Chapter 8 Radar Interference

8.1 Introduction

8.2 Motivation and Definitions

8.3 Impacts and Manifestation

8.3.1 LFM/FMCW

8.3.2 PMCW Radar and Mixed Waveforms

8.4 RFI Mitigations

8.4.1 Mitigations Local to the Radar

8.4.2 Global Mitigations: Noncooperative Countermeasures

8.4.3 Global Mitigations: Cooperative Countermeasures

8.4.4 Global Mitigations: Regulations

8.5 Recommendations for the Future

8.5.1 Use Less Energy and Power

8.5.2 Report Confidence

8.5.3 Create a Useful Taxonomy for RFI Mitigation

Chapter 9 The Impacts of Water (Weather) on Automotive Radar

9.1 Introduction

9.2 System Losses

9.2.1 Transmission Loss

9.2.2 Target Loss

9.2.3 Radome Loss

9.3 Array Performance

9.4 Backscattering Phenomenology

9.4.1 Rainfall Backscatter

9.4.2 Road Spray

9.5 Potential Mitigations

Part 3: Integration and System Considerations

Chapter 10 Safety Considerations for Radar in Fully Autonomous Vehicles

10.1 Introduction

10.2 What Is Safety?

10.3 Safety Standards

10.3.1 ISO 26262 and ISO 21448

10.3.2 Relationship to Existing Standards and Processes

10.4 Lessons from Industry

10.4.1 Emphasize Understanding over Following Checklists

10.4.2 Embrace Systems Engineering

10.4.3 Address Safety in the Most Appropriate Place

10.4.4 Improve Supplier/Customer Engagement

10.4.5 Recognize the Criticality of a High Quality Safety Manual.

10.4.6 Beware the Many Pitfalls of Safety Analysis

10.4.7 Applying Safety to Emerging or Complex Technologies

10.5 Safety Concepts for Level 4 ADS and Implications for Radar

10.5.1 Safety Considerations on Multiple Sensor Modalities

10.5.2 Safety Considerations on Radar Data

10.5.3 Radar FuSa and SOTIF Roots Causes and Mitigations

10.5.4 Safety Considerations Due to Available Radar Technology

10.6 Safety Considerations for Verification and Validation

10.7 Conclusion

Chapter 11 Testing Automotive Radars

11.1 Introduction: Why Is Testing Necessary?

11.1.1 Verification and Validation of System Performance

11.1.2 Conformance to Legal Regulations and Industrial Standards

11.1.3 Safety Performance Assessment

11.2 Measurable Parameters: From Sensor Level to Vehicle Integration

11.2.1 Transmitter Tests

11.2.2 Receiver Test

11.2.3 Antenna and Radome Test

11.2.4 Performance and Functional Tests

11.2.5 Integration Testing

11.3 Test Equipment

11.3.1 General Test Equipment

11.3.2 Radar Echo Generators

11.3.3 Measurement Antennas

11.3.4 Anochic Chambers

11.3.5 Positioners

11.4 Example Test Setups

11.4.1 Transmitter Test Setup

11.4.2 Setup for Sensor Calibration and Performance Tests

11.4.3 Setups for EMC and OOB Testing

11.4.4 Simulating Interference from Other Automotive Radar Transmitters

11.4.5 Exemplary Test Scenario

11.4.6 ADAS Integration Test Bed

11.4.7 ViL Test

List of Acronyms

About the Editor

About the Authors.

Notes:

Description based on publisher supplied metadata and other sources.

Description based on print version record.

Includes bibliographical references.

Other Format:

Print version: Markel, Matt Radar for Fully Autonomous Driving

ISBN:

9781523145768

1523145765

9781630818975

1630818976