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Radar for Fully Autonomous Vehicles Unabridged edition [Kõva köide]

  • Formaat: Hardback, 360 pages
  • Ilmumisaeg: 30-Apr-2022
  • Kirjastus: Artech House Publishers
  • ISBN-10: 1630818968
  • ISBN-13: 9781630818968
Teised raamatud teemal:
  • Formaat: Hardback, 360 pages
  • Ilmumisaeg: 30-Apr-2022
  • Kirjastus: Artech House Publishers
  • ISBN-10: 1630818968
  • ISBN-13: 9781630818968
Teised raamatud teemal:
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 an essential need for the field to fully mature.

 

The book presents state-of-the-art knowledge as shared by the best and brightest experts working in the automotive radar industry today -- leaders who have been there and done that. Each chapter is written as a standalone "master class" with the authors, seeing the topic through their eyes and experiences. Where beneficial, the chapters reference one another but can otherwise be read in any order desired, making the book an excellent go-to reference for a particular topic or review you need to understand.

 

Youll get a big-picture tour of the key radar needs for fully autonomous vehicles, and how achieving these needs is complicated by the automotive environments dense scenes, number of possible targets of interest, and mix of very large and very small returns. Youll then be shown the challenges from and mitigations to radio frequency interference (RFI), an ever-increasing challenge as the number of vehicles with radars and radars per vehicle grow.

 

The book also dives into the impacts of weather on radar performance, providing you with insights gained from extensive real-world testing. You are then taken through the integration and systems considerations, especially regarding safety, computing needs, and testing. Each of these areas is influenced heavily by the needs of fully autonomous vehicles and are open areas of research and development.

 

With this authoritative volume you will understand:









How to engage with radar designers (from a system integrator / OEM standpoint); How to structure and set requirements for automotive radars; How to address system safety needs for radars in fully autonomous vehicles; How to assess weather impact on the radar and its ability to support autonomy; How to include weather effects into specifications for radars.





 

This is an essential reference for engineers currently in the autonomous vehicle arena and/or working in automotive radar development, as well as engineers and leaders in adjacent radar fields needing to stay abreast of the rapid developments in this exciting and dynamic field of research and development.
Foreword xiii
Acknowledgments xv
Introduction xvii
PART 1 Radar Technologies for Autonomous Vehicles
1(140)
Chapter 1 Modern Radar Sensors in Advanced Automotive Architectures
3(22)
1.1 Inspiration for More Advanced Systems
4(2)
1.1.1 Traffic Density and Fatal Accident Rate
4(1)
1.1.2 Human Factor
4(1)
1.1.3 Autonomous Driving Levels
4(2)
1.2 The Evolving Automotive Radar Landscape
6(1)
1.3 Fast Chirp Sequence Radar Sensing
7(2)
1.4 RFCMOS Car Radar Transceiver
9(1)
1.5 Elements of a Radar Module
10(3)
1.6 Angular Resolution Increase: MIMO Example and Cascaded Application
13(1)
1.7 Vehicle Network and Compute Considerations
14(9)
1.7.1 Vehicle Network Architecture Evolution
14(2)
1.7.2 Distributed Versus Centralized Processing
16(6)
1.7.3 Conclusion
22(1)
1.8 Summary
23(1)
1.9 Acknowledgments
23(2)
References
23(2)
Chapter 2 Design Considerations for Automotive Radar
25(18)
2.1 Radar Requirements
25(3)
2.2 The Spectrum for Automotive Radar
28(1)
2.3 Range (Distance) Required for Automotive Radar
29(2)
2.4 Automotive Radar Installation
31(1)
2.5 Automotive Radar Considerations for Scanning the FOV
32(2)
2.6 Frequency Modulation Waveforms and the Radar Data Cube
34(3)
2.7 Outputs from Automotive Radar
37(6)
References
41(2)
Chapter 3 Digital Code Modulation
43(24)
3.1 Introduction
43(2)
3.2 FCM Versus DCM Architecture
45(2)
3.3 Basics of DCM Radar
47(9)
3.3.1 Range Processing
48(3)
3.3.2 Velocity Processing
51(1)
3.3.3 Angle Processing
52(4)
3.4 DCM Radar Attributes
56(6)
3.4.1 High Contrast Distance: Matched Filter
56(1)
3.4.2 High Contrast Resolution
57(1)
3.4.3 CDM MIMO (Higher Power on Target)
57(1)
3.4.4 Interference Robustness and Interference Mitigation
58(1)
3.4.5 Cascading: Coherent and Quasi-coherent Sensors and Networks
59(1)
3.4.6 Code Design
59(3)
3.5 DCM Radar Implementation
62(5)
References
64(3)
Chapter 4 Automotive MIMO Radar
67(28)
4.1 Virtual Array Synthesis via MIMO Radar
68(2)
4.2 Waveform Orthogonality Strategies in Automotive MIMO Radar
70(5)
4.2.1 Waveform Orthogonality via TDM
70(1)
4.2.2 Waveform Orthogonality via DDM
71(3)
4.2.3 Waveform Orthogonality via FDM
74(1)
4.3 Angle Finding in Automotive MIMO Radar
75(5)
4.3.1 High Resolution Angle Finding with ULA
76(2)
4.3.2 High Resolution Angle Finding with SLA
78(2)
4.4 High Resolution Imaging Radar for Autonomous Driving
80(3)
4.4.1 Cascade of Multiple Radar Transceivers
80(1)
4.4.2 Examples of Cascaded Imaging Radars
81(2)
4.4.3 Design Challenges of Imaging Radar
83(1)
4.5 Challenges in Automotive MIMO Radar
83(12)
4.5.1 Angle Finding in the Presence of Multipath Reflections
83(2)
4.5.2 Waveform Orthogonality in Automotive MIMO Radar
85(2)
4.5.3 Efficient, High Resolution Angle Finding Algorithms Are Needed
87(1)
References
88(7)
Chapter 5 Synthetic Aperture Radar for Automotive Applications
95(24)
5.1 Introduction
95(9)
5.1.1 Historical Background
95(1)
5.1.2 Comparison to Traditional Radar Systems
96(3)
5.1.3 SAR and Point Cloud Imaging Performance
99(1)
5.1.4 Applications for Automotive Use
99(5)
5.2 Mathematical Foundation
104(3)
5.2.1 Key Assumptions
104(1)
5.2.2 Signal Model
105(1)
5.2.3 Slow Time
106(1)
5.3 Building an Automotive SAR
107(8)
5.3.1 Measuring Ego-Motion
107(4)
5.3.2 SAR Image Formation
111(3)
5.3.3 Coexistence with Point Cloud Pipeline
114(1)
5.3.4 Elevation Information
115(1)
5.4 Future Directions
115(1)
5.4.1 Forward-Facing SAR
115(1)
5.4.2 SAR for Moving Objects
116(1)
5.4.3 Gapped SAR
116(1)
5.5 Conclusion
116(3)
References
117(2)
Chapter 6 Radar Transceiver Technologies
119(22)
6.1 Background and Introduction to Automotive Radar
119(3)
6.2 Block Diagram Overview of an FMCW Radar Transceiver
122(1)
6.3 Challenges with Deeply Scaled CMOS
123(1)
6.4 Active Devices in CMOS
124(3)
6.5 Passives in CMOS
127(1)
6.6 Circuit Architectures Suitable for Advanced CMOS
128(3)
6.6.1 The Transmit Power Amplifier
128(2)
6.6.2 The TX Phase Shifter
130(1)
6.7 The LO/FMCW Chirp Generator
131(3)
6.8 The Receiver Signal Chain
134(3)
6.8.1 RX Frontend
135(1)
6.8.2 Radar RX Baseband
135(2)
6.9 Summary
137(4)
References
138(3)
PART 2 Challenges and Solutions for the Automotive Environment
141(68)
Chapter 7 Radar Challenges from the Automotive Scene
143(18)
7.1 Introduction
143(4)
7.1.1 Range Swath
144(1)
7.1.2 Imaging Dense Clutter
144(1)
7.1.3 Simultaneous Transmit and Receive
144(3)
7.2 Scene Dynamic Range
147(3)
7.3 Ground Bounce (Unresolved Reflections)
150(5)
7.4 Multipath (Resolved Reflections)
155(6)
References
160(1)
Chapter 8 Radar Interference
161(28)
8.1 Introduction
161(1)
8.2 Motivation and Definitions
161(2)
8.3 Impacts and Manifestation
163(14)
8.3.1 LFM/FMCW
163(12)
8.3.2 PMCW Radar and Mixed Waveforms
175(2)
8.4 RFI Mitigations
177(7)
8.4.1 Mitigations Local to the Radar
177(3)
8.4.2 Global Mitigations: Noncooperative Countermeasures
180(2)
8.4.3 Global Mitigations: Cooperative Countermeasures
182(1)
8.4.4 Global Mitigations: Regulations
183(1)
8.5 Recommendations for the Future
184(5)
8.5.1 Use Less Energy and Power
185(1)
8.5.2 Report Confidence
186(1)
8.5.3 Create a Useful Taxonomy for RFI Mitigation
187(1)
References
188(1)
Chapter 9 The Impacts of Water (Weather) on Automotive Radar
189(20)
9.1 Introduction
189(1)
9.2 System Losses
189(10)
9.2.1 Transmission Loss
189(1)
9.2.2 Target Loss
190(5)
9.2.3 Radome Loss
195(4)
9.3 Array Performance
199(2)
9.4 Backscattering Phenomenology
201(6)
9.4.1 Rainfall Backscatter
201(4)
9.4.2 Road Spray
205(2)
9.5 Potential Mitigations
207(2)
References
208(1)
PART 3 Integration and System Considerations
209(84)
Chapter 10 Safety Considerations for Radar in Fully Autonomous Vehicles
211(24)
10.1 Introduction
211(1)
10.2 What Is Safety?
211(1)
10.3 Safety Standards
212(4)
10.3.1 ISO 26262 and ISO 21448
213(2)
10.3.2 Relationship to Existing Standards and Processes
215(1)
10.4 Lessons from Industry
216(5)
10.4.1 Emphasize Understanding over Following Checklists
217(1)
10.4.2 Embrace Systems Engineering
217(1)
10.4.3 Address Safety in the Most Appropriate Place
217(1)
10.4.4 Improve Supplier/Customer Engagement
218(1)
10.4.5 Recognize the Criticality of a High Quality Safety Manual
218(1)
10.4.6 Beware the Many Pitfalls of Safety Analysis
219(1)
10.4.7 Applying Safety to Emerging or Complex Technologies
220(1)
10.5 Safety Concepts for Level 4 ADS and Implications for Radar
221(9)
10.5.1 Safety Considerations on Multiple Sensor Modalities
223(2)
10.5.2 Safety Considerations on Radar Data
225(1)
10.5.3 Radar FuSa and SOTIF Roots Causes and Mitigations
225(4)
10.5.4 Safety Considerations Due to Available Radar Technology
229(1)
10.6 Safety Considerations for Verification and Validation
230(1)
10.7 Conclusion
231(4)
References
232(3)
Chapter 11 Testing Automotive Radars
235(58)
11.1 Introduction: Why Is Testing Necessary?
235(2)
11.1.1 Verification and Validation of System Performance
235(1)
11.1.2 Conformance to Legal Regulations and Industrial Standards
236(1)
11.1.3 Safety Performance Assessment
236(1)
11.2 Measurable Parameters: From Sensor Level to Vehicle Integration
237(30)
11.2.1 Transmitter Tests
237(15)
11.2.2 Receiver Test
252(3)
11.2.3 Antenna and Radome Test
255(3)
11.2.4 Performance and Functional Tests
258(4)
11.2.5 Integration Testing
262(5)
11.3 Test Equipment
267(14)
11.3.1 General Test Equipment
268(4)
11.3.2 Radar Echo Generators
272(2)
11.3.3 Measurement Antennas
274(2)
11.3.4 Anechoic Chambers
276(4)
11.3.5 Positioners
280(1)
11.4 Example Test Setups
281(12)
11.4.1 Transmitter Test Setup
282(1)
11.4.2 Setup for Sensor Calibration and Performance Tests
283(1)
11.4.3 Setups for EMC and OOB Testing
284(2)
11.4.4 Simulating Interference from Other Automotive Radar Transmitters
286(1)
11.4.5 Exemplary Test Scenario
286(2)
11.4.6 ADAS Integration Test Bed
288(1)
11.4.7 ViL Test
289(1)
References
290(3)
List of Acronyms 293(4)
About the Editor 297(2)
About the Contributors 299(4)
Index 303