Radar Sensors for Autonomous Driving: Modulation Schemes and Interference Mitigation

Autonomous driving is currently the focus of considerable media attention, and the automotive industry is working on harnessing technological advances to accelerate development. In doing so, different levels of automated driving must be mastered (Table 1) and defined [1]. At higher automation levels, the execution, monitoring, and fallback performance are increasingly handled by the system and not the human driver, resulting in more demanding requirements for the sensor system. As shown in [2], radar sensors are a key technology to enable Society of Automotive Engineers level 5, full automation.

[1]  Jürgen Dickmann,et al.  Making Bertha See Even More: Radar Contribution , 2015, IEEE Access.

[2]  S. Brebels,et al.  PMCW waveform and MIMO technique for a 79 GHz CMOS automotive radar , 2016, 2016 IEEE Radar Conference (RadarConf).

[3]  Nils Appenrodt,et al.  "Automotive radar the key technology for autonomous driving: From detection and ranging to environmental understanding" , 2016, 2016 IEEE Radar Conference (RadarConf).

[4]  A. Stelzer,et al.  Motion compensation and efficient array design for TDMA FMCW MIMO radar systems , 2012, 2012 6th European Conference on Antennas and Propagation (EUCAP).

[5]  S. Brebels,et al.  Almost perfect auto-correlation sequences for binary phase-modulated continuous wave radar , 2013, 2013 European Microwave Conference.

[6]  Shengli Zhou,et al.  Signal Processing for Passive Radar Using OFDM Waveforms , 2010, IEEE Journal of Selected Topics in Signal Processing.

[7]  Reinhard Feger,et al.  A fully-integrated 77-GHz pseudo-random noise coded Doppler radar sensor with programmable sequence generators in SiGe technology , 2014, 2014 IEEE MTT-S International Microwave Symposium (IMS2014).

[8]  Hongbo Sun,et al.  Analysis and comparison of MIMO radar waveforms , 2014, 2014 International Radar Conference.

[9]  Petre Stoica,et al.  Maximum likelihood methods for direction-of-arrival estimation , 1990, IEEE Trans. Acoust. Speech Signal Process..

[10]  Oleg A. Krasnov,et al.  Interleaved OFDM Radar Signals for Simultaneous Polarimetric Measurements , 2012, IEEE Transactions on Aerospace and Electronic Systems.

[11]  Jurgen Dickmann,et al.  Minimizing interference in automotive radar using digital beamforming , 2011 .

[12]  Jens Klappstein,et al.  Interesting areas in radar gridmaps for vehicle self-localization , 2016, 2016 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[13]  Wolfgang Menzel,et al.  Robust detection and mitigation of mutual interference in automotive radar , 2015, 2015 16th International Radar Symposium (IRS).

[14]  W. Menzel,et al.  An Experimental 24 GHz Radar using Phase Modulation Spread Spectrum Techniques , 1998, 1998 28th European Microwave Conference.

[15]  Nils Appenrodt,et al.  Radar contribution to highly automated driving , 2014, 2014 44th European Microwave Conference.

[16]  Tobias Mahler,et al.  Discussion of the operating range of frequency modulated radars in the presence of interference , 2014, International Journal of Microwave and Wireless Technologies.

[17]  Gang Li,et al.  A novel interlaced chirp sequence radar concept with range-Doppler processing for automotive applications , 2015, 2015 IEEE MTT-S International Microwave Symposium.

[18]  Wolfgang Menzel,et al.  Automotive radar – investigation of mutual interference mechanisms , 2010 .

[19]  Klaus C. J. Dietmayer,et al.  Instantaneous ego-motion estimation using Doppler radar , 2013, 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013).

[20]  V. Winkler,et al.  Range Doppler detection for automotive FMCW radars , 2007, 2007 European Radar Conference.

[21]  E. Pancera,et al.  A novel approach to OFDM radar processing , 2009, 2009 IEEE Radar Conference.

[22]  Jens Klappstein,et al.  Estimation of the orientation of vehicles in high-resolution radar images , 2015, 2015 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[23]  S. Weinstein,et al.  Data Transmission by Frequency-Division Multiplexing Using the Discrete Fourier Transform , 1971 .

[24]  N. Levanon.  Multifrequency complementary phase-coded radar signal , 2000 .

[25]  Bin Yang,et al.  Single snapshot DOA estimation , 2010 .

[26]  Christian Waldschmidt,et al.  Interference of chirp sequence radars by OFDM radars at 77 GHz , 2017, 2017 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[27]  Andrew Gerald Stove,et al.  Linear FMCW radar techniques , 1992 .

[28]  H. Wechsler,et al.  Micro-Doppler effect in radar: phenomenon, model, and simulation study , 2006, IEEE Transactions on Aerospace and Electronic Systems.

[29]  Christian Waldschmidt,et al.  Digital beamforming to mitigate automotive radar interference , 2016, 2016 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[30]  G.M. Brooker,et al.  Mutual Interference of Millimeter-Wave Radar Systems , 2007, IEEE Transactions on Electromagnetic Compatibility.

[31]  W. Menzel,et al.  Adaptive super-resolution with a synthetic aperture antenna , 2012, 2012 9th European Radar Conference.

[32]  André Bourdoux,et al.  19.7 A 79GHz binary phase-modulated continuous-wave radar transceiver with TX-to-RX spillover cancellation in 28nm CMOS , 2015, 2015 IEEE International Solid-State Circuits Conference - (ISSCC) Digest of Technical Papers.

[33]  R. O. Schmidt,et al.  Multiple emitter location and signal Parameter estimation , 1986 .

[34]  I.D. Longstaff,et al.  Combining MIMO Radar with OFDM Communications , 2006, 2006 European Radar Conference.

[35]  Manuel Garcia Sanchez,et al.  Wideband Noise Radar based in Phase Coded Sequences , 2010 .

[36]  Klaus C. J. Dietmayer,et al.  Instantaneous ego-motion estimation using multiple Doppler radars , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[37]  Reinhard Feger,et al.  Realization of a Sliding-Correlator-Based Continuous-Wave Pseudorandom Binary Phase-Coded Radar Operating in $W$ -Band , 2016, IEEE Transactions on Microwave Theory and Techniques.

[38]  Christian Waldschmidt,et al.  Analytical and Experimental Investigations on Mitigation of Interference in a DBF MIMO Radar , 2017, IEEE Transactions on Microwave Theory and Techniques.

[39]  Christian Waldschmidt,et al.  New pre-estimation algorithm for FMCW radar systems using the Matrix Pencil Method , 2015, 2015 European Radar Conference (EuRAD).

[40]  Hermann Rohling,et al.  X-band FMCW radar system with variable chirp duration , 2010, 2010 IEEE Radar Conference.

[41]  Chi-Chih Chen,et al.  Bicycles and human riders backscattering at 77 GHz for automotive radar , 2016, 2016 10th European Conference on Antennas and Propagation (EuCAP).

[42]  Jürgen Dickmann,et al.  Enhancement of Doppler resolution for chirp-sequence modulated radars , 2016, 2016 European Radar Conference (EuRAD).

[43]  D Garmatyuk,et al.  Multifunctional Software-Defined Radar Sensor and Data Communication System , 2011, IEEE Sensors Journal.

[44]  Bin Yang,et al.  A novel narrowband interference suppression method for OFDM radar , 2016, 2016 24th European Signal Processing Conference (EUSIPCO).

[45]  V. Filimon,et al.  A pre-crash radar sensor system based on pseudo-noise coding , 2000, 2000 IEEE MTT-S International Microwave Symposium Digest (Cat. No.00CH37017).

[46]  Christian Waldschmidt,et al.  Estimation and cancellation of interferences in automotive radar signals , 2017, 2017 18th International Radar Symposium (IRS).

[47]  W. Menzel,et al.  Detection of slow moving targets using automotive radar sensors , 2012, 2012 The 7th German Microwave Conference.

[48]  Takaaki Kishigami,et al.  79GHz-band coded pulse compression radar system performance in outdoor for pedestrian detection , 2013, 2013 European Radar Conference.

[49]  Christian Sturm,et al.  Waveform Design and Signal Processing Aspects for Fusion of Wireless Communications and Radar Sensing , 2011, Proceedings of the IEEE.

[50]  Wolfgang Menzel,et al.  High resolution automotive radar measurements of vulnerable road users – pedestrians & cyclists , 2015, 2015 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[51]  Michael R. Inggs,et al.  Stepped OFDM radar technique to resolve range and doppler simultaneously , 2015, IEEE Transactions on Aerospace and Electronic Systems.

[52]  P. van Genderen,et al.  Multi-carrier radar waveform schemes for range and Doppler processing , 2009, 2009 IEEE Radar Conference.

[53]  Christian Waldschmidt,et al.  Compensation of Motion-Induced Phase Errors in TDM MIMO Radars , 2017, IEEE Microwave and Wireless Components Letters.

[54]  Yin Jun,et al.  Research on key tchnologies for collision avoidance automotive radar , 2009, 2009 IEEE Intelligent Vehicles Symposium.

[55]  Thomas Zwick,et al.  Spectrally interleaved multi-carrier signals for radar network applications and multi-input multi-output radar , 2013 .

[56]  Reinhard Feger,et al.  A stepped-carrier 77-GHz OFDM MIMO radar system with 4 GHz bandwidth , 2015, 2015 European Radar Conference (EuRAD).

[57]  Klaus C. J. Dietmayer,et al.  Tracking of Extended Objects with High-Resolution Doppler Radar , 2016, IEEE Transactions on Intelligent Transportation Systems.

[58]  Christian Waldschmidt,et al.  Reliable Orientation Estimation of Vehicles in High-Resolution Radar Images , 2016, IEEE Transactions on Microwave Theory and Techniques.

[59]  Geoffrey Ye Li,et al.  OFDM and Its Wireless Applications: A Survey , 2009, IEEE Transactions on Vehicular Technology.

[60]  R. Chang.  Synthesis of band-limited orthogonal signals for multichannel data transmission , 1966 .

[61]  André Bourdoux,et al.  A 79 GHz Phase-Modulated 4 GHz-BW CW Radar Transmitter in 28 nm CMOS , 2014, IEEE Journal of Solid-State Circuits.

[62]  Gang Li,et al.  Concept and Implementation of a PLL-Controlled Interlaced Chirp Sequence Radar for Optimized Range–Doppler Measurements , 2016, IEEE Transactions on Microwave Theory and Techniques.

[63]  Steffen Heuel.  Automotive radar interference test , 2017, 2017 18th International Radar Symposium (IRS).

[64]  B.-E. Tullsson.  Topics in FMCW radar disturbance suppression , 1997 .

[65]  W. L. van Rossum,et al.  Orthogonal waveforms for FMCW MIMO radar , 2011 .

[66]  Jens Klappstein,et al.  A method for interference cancellation in automotive radar , 2015, 2015 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[67]  Thomas Zwick,et al.  A novel technique for interference mitigation in OFDM radar using compressed sensing , 2017, 2017 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[68]  Christian Waldschmidt,et al.  Stepped-Carrier OFDM-Radar Processing Scheme to Retrieve High-Resolution Range-Velocity Profile at Low Sampling Rate , 2018, IEEE Transactions on Microwave Theory and Techniques.

[69]  Reinhard Feger,et al.  Optimization of codes and weighting functions for binary phase-coded FMCW MIMO radars , 2016, 2016 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[70]  Christian Waldschmidt,et al.  Bats-inspired frequency hopping for mitigation of interference between automotive radars , 2016, 2016 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM).

[71]  Julius Ziegler,et al.  Making Bertha Drive—An Autonomous Journey on a Historic Route , 2014, IEEE Intelligent Transportation Systems Magazine.

[72]  W. Menzel,et al.  3D-scattering center detection of automotive targets using 77 GHz UWB radar sensors , 2012, 2012 6th European Conference on Antennas and Propagation (EUCAP).

[73]  Tobias Mahler,et al.  An estimation of the operating range for frequency modulated radars in the presence of interference , 2013, 2013 European Radar Conference.