next generation its utilizing ict research on surveillance...

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





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





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

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