Imaging Approach for Automotive Radar

Abstract: In order to configure an azimuth resolution imaging method capable of an automotive radar, a
new holographic imaging system which uses two antennas for simultaneous transmission and reception is
proposed and studied. It can be seen from the analysis that by using this new method, by placing a large
quantity of antenna arrays within a small interval, high-quality images can be obtained at high speed,
regardless the distance of the objects. With the help of simulations ran on computers, the effectiveness
and advantages of the imaging principles can be shown and tested. Combined with newer cameras, the
system helps the automotive industry by laying a path onto autonomous vehicles and smart head-light
assistant.

Keywords: simulations, images, azimuth resolution, radar

Pentru a configura o metodă de imagistică cu rezoluție azimut compatibila pentru un radar auto, este
propus și studiat un nou sistem de imagistică holografică care folosește două antene pentru transmisie și
recepție de date simultan. Din analiză se poate observa că prin utilizarea acestei noi metode, prin plasarea unui
număr mare de șiruri de antenă într-un interval mic, se pot obține imagini de înaltă calitate la viteză mare, chiar
si cu obiecte la îndepărtare. Cu ajutorul simulărilor rulate pe computere, eficiența și avantajele principiilor
imagistice pot fi arătate și testate. Împreună cu camere auto moderne, sistemul ajută industria auto printr-o
nouă perspectivă asupra automobilelor autonome și a sistemelor inteligente de faruri.

Introduction

With the fast pace of the evolution in the automotive sector, it is mandatory for the
automotive radars to be developed in a timely manner, in order to keep up with the demands. The
existent collision detection radars, which are used towards forecasting a collision, using a
multitude of velocities and ranges from the neighboring cars in traffic, are proving to have
difficulties in spotting objects while the car is cornering, due to the small field of vision that they
intercept. In order to void this situation, the radars must have an implementation based on a
azimuth resolving function in order to be able to detect objects within a wide field of view, but,
although there has been a brief research of azimuth solving ways pertinent for the problem, a
method of resolution has not been discovered or implemented yet. The difficulty of the situation
is mainly caused by the limitations on the antennas manufacturing industries and also to the slow
response from them to changes that are happening in real time, thus of the new demands and
opportunities. A solution to the industry may be provided by a holographic imaging technique,
based on fashioning the utility of the antenna arrays used on airplanes and electrical beam
scanning, the whole system being installed in front of a vehicle. This technique, which combines
the two mentioned entities, is not new, as it is already used for microwave holography and in
radars that are useful in astronomy. However, applying this idea to a motor vehicle is not easy,
because of the large number of the antenna elements that have to be installed. The proposal is
based on a method which provides the sampling of a diffraction field with the help of two
antenna systems used for transmitting and receiving, in regards of using an array that is denser
than the antenna system. In this way, it is possible to obtain high resolution images with fewer
components installed, therefore, simplifying the whole system’s schema. The data will be
viewable using a transformation based on inverse diffraction, the same technique that is used in
the microwave holography sector.

The Imaging Principle

Within this principle, it is proposed the usage of a method which combines two antennas,
which they both transmit and receive data. Using a circuit, the transmission array is attached to a
CW source, while sensors are installed to each entity of the receiving part. The radar receives
information regarding the objects nearby, and the antennas continues to emit and receive signal
until a sample is conceived. The complexity of the sample can be transcript into 2D using 2
variables, xa which represents the transmit location and xb for the reception.
 (1)

The r and θ represent the distance and azimuth, λ and f meaning the wavelength and
respectively, frequency of the CW. Φ represents the difference between the source and the
detector, the constant is represented by U while the echo delay is τ. The delay can be found using
the following formula:

(2)

Figure 1 represents a logic view and an in-depth visualization of the proposed principle.

Figure 1. Geometric representation of the proposed radar

(Source: Communications in Japan, Gakkai Ronbunshi, Vol. J81-B-II, pg.809)

Figure 2. Illustration of an image process

(Source: Communications in Japan, Gakkai Ronbunshi, Vol. J81-B-II, pg.810)
 The principle states that with the two antennas positioned at different intervals, we could
obtain a hologram, determined by the sum of at least 2 widths of an array together with a sample
interval. The sample is calculated by subtracting the smallest interval time from the biggest one.
By using this technique, it is possible to obtain an image with a bigger FOV which will be
helpful in cornering.

The relation between Antenna Arrays and Picture Quality

In order to obtain a balanced result from the system, it is required to use sample points in
order to increase the quality, preserve the azimuthal resolution and maintain a wide FOV.

Figure 3. The combination of arrays and samples

(Source: Communications in Japan, Gakkai Ronbunshi, Vol. J81-B-II, pg.811)

Using the 3rd figure we can see a type of an image created by two arrays. The first one
(A) contains three elements with a separation of two while the second one (B) contains four
elements separated with a pace of three. When the echo appears on its line, determined by x a + xb
=xab (3) equation, it represents the minimum quantity of samples. If we combine both of the
elements (meaning the receiving ones and the transmitting) we would get twelve elements,
however, A0B0 and A2B3, as they are the extremities, they will be excluded, therefore, the real
number of samples is ten. We can observe that the number of samples is greater than the total
amount of antennas.
The quantity of samples is tied up to how the antenna’s elements are assigned. They can
be set at small or large intervals and also, they are dependent on the type of interval, more
exactly, if it is a regulated one. If we consider a multi-element (M) array (A) with m acting as a
space, and finally a second array with the sum of elements represented by N with n spacing, we
could have the following:

If the first array is even spaced:

(3)

If the second array is even spaced:

(4)

Verifying the proposal

For the proposal to be verified, there has been designed a radar system, which operates at
a frequency of 70GHz, the azimuth resolution is at 4.0 o, the range is 1/10 of a km, and the FOV
is larger than r200. The representation of the images will be handled with the help of computers.
The first graph shown in Figure 4 reconstructs an image composed of six objects placed
at a range of 60 meters and in the azimth direction they are separated by intervals of three. We
can see the large peaks appears when the azimuth is at its optimum position and the smaller ones
appear when the side lobes have been summed.

Figure 4. Reconstructed images

 (Source: Communications in Japan, Gakkai Ronbunshi, Vol. J81-B-II, pg.819)

The lower reconstruction has been made using five objects placed at an irregular velocity,
also, the distance was randomly set this time. Despite the changes, an image reconstruction has
been possible and detailed pictures could be obtained. There is, however, a slight degradation of
detailing, comparing it to the first test, this behavior is caused by the change of velocity.
Real life examples derived from this proposal have been implemented in the automotive
industries, for example, Mercedes-Benz AG, part of DaimlerChrysler AG Corporation has
implemented a similar system on its products. The system patented by Mercedes-Benz consists
of multiple cameras installed in the front bumper of the car alongside with a sonar radar which
combined, can construct and project an image of the outside environment.

An image of a real-life example of the expected result is illustrated in Figure 5.

 Figure 5. The output dedicated to cockpit view
(Source: (2019 Mercedes-Benz Innovation Report)

Thanks to further development, the objects that are picked up by the antennas can be used
in further configuring an entire system dedicated to the collision avoiding sector. The raw
information can be fed into the vehicle’s central management unit, from where it can be
processed using artificial intelligence algorithms and where it can act accordingly to avoid an
accident. The antennas can help the whole system to detect the exact dimension of an object and
therefore the car can approximate with a minor error margin the exact distance between it and the
object that may or may not be in its path.

Figure 6. The data recognized by the management unit

(Source: Tesla’s 2018 Public Presentantion)

Figure 7. Multiple objects in a large FOV

(Source: Tesla’s 2018 Public Presentantion)

Collision avoiding is not the only sector that the imaging approach revolutionizes the
automotive industry. Alongside using the antennas in pair with cameras to produce an output on
the car’s screen, the principle is used for headlamps, more precisely, the system helps the car to
determine if there is an on-coming participant on the other side of the road, and depending if
there is, or not, the computer can switch between hi-beam and low-beam automatically.
If the headlight is one of the upper grade, which can benefit from the advantages of laser-
light technology for example, it means that combined with the antenna system, it can redirect the
light fascicle in such way that the driver would have the maximum light possible in order to
avoid blinding the on-coming traffic at all the time.

Figure 8. Representation of a headlight guided by antennas

(Source: BMW’s 2018 Innovation Report)

Conclusion

The proposed system has been presented, tested using real subjects and finally variations
of it have been already implemented into automotive industry. The digital output that the radar
provides represents a massive step forward in the digitalization of vehicles, as nowadays people
tend to prefer objects that are coming with modern and smart features. Thanks to the system, it is
possible to tick this feature into cars, people can experience a safety system that is capable of
detecting objects even in cornering and alert the driver, also they can use a night vision
mechanism that helps the driver see more details in the dark and finally, thanks to the antennas
waves, superior light assistance can be achieved on the road.

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