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Next generation ITS utilizing ICT
Research on
Surveillance Millimeter Wave Radar Systems
March 6th , 2015
Panasonic System Networks Co., Ltd.
Outline
Background Introduction of 79GHz radar
Research activities in SIP
Technical result and field trial
ConclusionOn future works
What is millimeter wave radar sensor?
Wide bandwidth is available especially for
high speed wireless communication and
high resolution radar sensing.
Recently, thanks to evolution of fine
processing technology mmW wireless
application is put to practical use.
Object detection system using radio wave
to determine the range, direction, and
velocity.
Wide frequency band is necessary for high
resolution being required to detect small
object like human.
Millimeter wave technology Radar sensing
Pulse radar scheme
Regulatory trend on 79GHz band radar
RAS
RLS
(radar)
RLS
(radar)
RAS
76.0 77.5 78.0 79.0 81.0
RAS: Radio Astronomy Service
RLS: Radio Location Service
am
ate
ur
79GHz band radar has been discussed in ITU-R toward WRC-15 (Nov. 2015).
Japan, Germany and others had submitted technical requirements to ITU-R.
500MHz between 77.5 to 78.0GHz will be allocated for radio location service.
79GHz achieves precise detection more than 24/26GHz UWB or 77GHz.
Range resolution performance is proportional to the utilizing bandwidth.
Angular resolution is depend on antenna size normalized by the wavelength.
Velocity can be directly detected due to Doppler shift at the carrier frequency.
WRC-15 agenda item 1.18 :Primary allocation of 77.5-78.0GHz for Radio Location Service (Radar)
Technical features of high resolution radar
High resolution radar signal processing
Adaptive array antennas for transmit and receive
Detection range:
Pedestrian 40m
Vehicle 100m
Exceed 120°
Resolution:
Range 20cm
Angular 5°
High-accuracy phase control of antenna arrays
achieves precise location of multiple targets.
Coded pulse radar method
Large eco
Pulse#2 Pulse#1
Pulse coherent
integration
Complementary Codes
with phase-rotation
The pulse phase-rotation and integration
suppress internal noise due to large eco.
(8 -antenna)
(4-antenna)
検出
Detected
Undetected
Eco
leve
l
Before AfterDetected
Range
Detected
Multiple
receivers
Transmit
Beamforming
Signal generation
Complementary codes
Correlation
Coherent
integration
Velocity &
direction
estimation
Weak eco
79GHz transmit
beamforming
Adaptive array
Signal processing
Large eco
Multiple
receivers
Transmitter
Beamforming
Signal generation
Complementary codes
Correlation
Coherent
integration
Velocity &
direction
estimation
Benefits of 79GHz band radar sensor
For safety related applications, 79GHz radar is enable to detect pedestrians
at driver’s blind spot even in bad weather conditions.
Technical features:
High sensitivity and high resolution to separate pedestrians from vehicles
Precise location of multiple targets with wide FOV (Field-Of-View)
Outline
Background Introduction of 79GHz radar
Research activities in SIP
Technical result and field trial
ConclusionOn future works
79GHz radar sensor for cooperative intersection safety
バイクAlert
indication
Crash prediction
Notification
Sensing
Source: White paper on traffic safety in Japan 2012
• 49% of fatal accidents occurred in or near intersections• 36% of accidents is related to pedestrians
• Pedestrian, vehicle and bike detection in wide area• Operation under poor visibility (fog, snow and so on)
Bike from Blind spotBike from Blind spotBike from Blind spot
Crash
bike
Missing pedestrianMissing pedestrianMissing pedestrian
Crash
pedestrian
Right turnRight turnRight turn
Crash
Left turnLeft turnLeft turn
Crash
Bike from Blind spotBike from Blind spotBike from Blind spot
Crash
bike
Missing pedestrianMissing pedestrianMissing pedestrian
Crash
pedestrian
Right turnRight turnRight turn
Crash
Left turnLeft turnLeft turn
Crash
Cooperative Driving Safety Support System is expected to reduce drivers’ burden
and traffic accidents at intersections.
79GHz band high resolution radar is promising to detect pedestrians and bicycles
acrossing the blind spots of a vehicle.
Accident statistics Driving Safety Support System
Summary of the research on surveillance radar systems
Surveillance system
Sensor device
Future developmentsHigh resolution techniques
Advanced research on
79GHz band radar systems
(FY2011~FY2013)
Radar-1
20cm/5°120°/100ms
・Rail road application
Crossing monitor, etc.
・Airport application
Detection of Foreign Object Debris
To permit the introduction to actual intersections, installation of multiple radars and
separation of various detection targets will be demonstrated
Robustness to environmental changes will also be verified with respect to
variations of weather and interference.
Schedule on the field trial for radar system verification
To installation at intersections
To obtain basic data sets on 79GHz radar in intersection emulation field
To verify robustness on weather andinterference at road side conditions
Actual field trials &Realtime verification
Surveillance system test with wireless channel & Safety service for vehicle mounted system
FY 2014 FY 2015 FY 2016 FY 2017 FY 2018
Automotive
applications
WRC-15 (RR revision) (WRC-19)ITU-R
EU
Japan
High reso.
Radar
NCAP Pedestrian
24GHzUWB D/L (26GHzUWB D/L)
26GHzUWB D/L
79GHz24GHz/26GHzUWB
Tokyo Olympic/
Paralympic
Freq. allocation
Global regulation~2013 201920182014 2022 [FY]
ITS-WC
Tokyo
①Antenna with RF module②Baseband processing (FPGA)③Detection processing (PC)
①Radar sensor 1st prototype②Integration processing (PC)
①Radar sensor②Integration unit
・79GHz antenna with RF・Wide vertical F.O.V.
・Compact 79GHz radar ・Multiple-radar integration
・Interference cont.・Realtime operation
①
②③ ② ①①
①①
②
②
・Notification to driver with HMI ・Data base for crash prediction
①Radar sensor ③Wireless channel②Integration unit ④Cockpit HMI
To develop prototypes (TBD)
①
①②
③
④
警報!
Outline
Background Introduction of 79GHz radar
Research activities in SIP
Technical result and field trial
ConclusionOn future works
A study on pedestrian discrimination algorithm
+30°
Prior evaluations were done for obtaining basic property of pedestrian echoes.
In outdoor environments, power profiles and Doppler frequency profiles will be
measured in the condition of nearby vehicle, guardrail and so on.
Detection targets:A reflector(as a car) and pedestrians
Power profile Doppler profileRadar detection result
-30° +30° -30° +30°
20m
10m
20m
10m
Pedstrian-2Pedstrian-1Reflector
P1 P2R10m
20m
Doppler resolution can discriminate
pedestrians from static clutters.
79GHz radar operation parameters:F.O.V. is about 60 degrees, angle step is 1 degree, and Doppler resolution is below 0.5 km/h.
Evaluation result on pedestrian discrimination algorithm (as a snapshot)
< Research status >
-30° +30°
20m
10m
-30° +30°
20m
10m
20m
10m
A sample of experimental data (azimuth spectrum)
Radar detection result Power profile Doppler profile
-30° +30°
20m
10m
-30° +30°
20m
10m
20m
10m
A sample of experimental data (azimuth peak detection)
Radar detection result Power profile Doppler profile
An basic emulation of interference among radars
Reflector
Frame
pillar
pillar
The arrival in the
direction of pillar
By adopting coded pulse method, interference
suppression performance can be confirmed
theoretically since the process gain (~60dB) of
coding and coherent integration with phase-
rotation.
< Research status >
In indoor environment, arrival of a large interference (same frequency and same coding) was
emulated. Direction and Doppler estimation results show the characteristics of interference.
Focus on the
direction and
bias in Doppler
Power profile Doppler profileRadar detection result
An experimental analysis on propagation due to rain
Data samples are analyzed for 79GHz propagation
property, which were measured at a test facility
adjusting rain intensity (~50mm/h).
Additional data measurement is being planned on the
heavy rain condition where rain drop diameters
exceed the wavelength (4mm).
]
A picture of rainfall test
Measurement result of rain attenuation
at the range of 10m
Histogram of echo power (no rain)
Histogram of echo power (50mm/h)
The deference of Medians is below 2dB.
< Research status >
A test field trail on surveillance radar sensing
Dates: March 2nd - 6th , 2015
Place: Japan Automobile Research Institute (JARI) test field in Tsukuba City
Summary of trial:Focusing on intersection environment, 79GHz radar detection performance will be evaluated
with variations in radar’s height/angle and relative position to vehicle and pedestrian.
<Test field, equipment and materials>
Sensors installation image
Bucket car Curb block
79GHz radar
(Antenna module)
Camera
Leaser radar
Baseband signal
processing unit
Experimental radar equipment
using coded pulse method has
been developed.
79GHz band pulse radar equipment
- 79GHz antenna with RF
- Transmit beamforming
- Complementary coding
- Direction Doppler
estimation
Antenna module
within RF
< Research status >
Conclusions
Technical verification status
Prototyping of the 79GHz band pulse radar experimental equipment
At the test field environment for intersection emulation, obtaining
fundamental data for evaluating pedestrian discrimination, occlusion
modeling and interference between radars.
Future works
Research on vehicular type discrimination algorithm and multiple
radars integration processing
Study on Interference detection method and interference control
architecture
Measurement of propagation data in rain and snow condition and
research on background clutter attenuation
Development of 79GHz pulse radar sensor as compact prototype