Advanced Driver Assistance System

Dr. Shree Prasad M.

Asst. Prof., Dept. of E.E.E.,
BITS Pilani
O↵-Campus, Bangalore.

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Outline

1 Introduction to Radar

2 Radar Range Equation.

3 Gain and Directivity of the Antenna.

4 Signature of the target: RCS.

5 Multiple Pulses!!!

6 Categories of Radar.

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Introduction to Radar

Radar: Radio Detection and Ranging

What is Radar ??
* Active Sensor.
* Transmitts Radio (EM)
waves.
* Collects the reflected waves
from target/obect.
What Radar measures?
* Range.
* Velocity.
* Angle.
Figure 1: Monostatic Radar.
* Type of Target.
* Imaging !!!

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How Radar Measures Distance ?

Figure 2: Range Measurement of Target.

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Radar - Computation of Range

Range of the Target

co T r
R= (1)
2

* co = 3 ⇥ 108 m/s : Speed of EM Waves .

* Tr : Round Trip Time.

Computation of Tr e↵ected by strength of the received pulse.

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Radar Range Equation

Power Flux Density at Range R (Onward journey of the pulse).


Pt G Watts
Power Flux Density = (2)
4⇡R 2 m2

Pt
To start with 4⇡R 2
.
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Power Flux Density as function of “R”

Figure 3: Illustration of Power Flux Density as Function of “R”.

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Radar Range Equation Contd.

Power Reflected by the target (Return journey of the pulse).

Pt G
= · (3)
4⇡R 2
⇥ ⇤
* m2 : Radar Cross Section, Equivalent Area of Target.
Power at the Radar receiver:
Pt G 1
Pr = · · · Ae (4)
4⇡R 2 4⇡R 2

G 2
* Ae = 4⇡ : E↵ective Antenna Aperture.

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Radar Range Equation Contd.

Radar Range Equation

Pt G 2 2
Pr = 3
(5)
(4⇡) R4

Received power Pr depends on

* Range of the target.
* RCS of the target.
* Wavelength.

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Importance of Gain of antenna

Azimuth , and Elevation Angle ✓ .

(a) Azimuth Angle (b) Elevation Angle

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Antenna Gain as function of

Figure 5: Illustration of Gain/Directivity of Antenna.

Maximum Power (density) radiated by directive antenna

G=
Power (density) radiated by Isotropic antenna with same power input
(6)

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Antenna Radiation Pattern

Figure 6: Dipole Antenna Radiation Pattern.

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Antenna Radiation Pattern Contd.

(a) Directivity Versus Elevation (b) Directivity Versus Azimuth

Angle

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Antenna Gain Contd.

Quantifying the main width of antenna pattern: “3-dB Beamwidth.”

EIRP: E↵ective Isotropic Radiated Power.

EIRP = Pt G (7)

“Maximum radiated power available from a transmitter in the

direction of maximum antenna gain, as compared to an isotropic
radiator ”

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Characteristic of Target: RCS

“Electrical ” area which determines the power (density) returned to

the Radar.
⇥ 2⇤ ⇥ 2
⇤
Object RCS m RCS dBm
Small Bird 0.01 -20
Stealth Bomber 0.01 -20
Human 1 0
Passenger Car 100 20
Truck 200 23
Container Ship 50000 ⇠47

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Characteristic of Target: RCS Contd.

Figure 8: Image Source: DOI: 10.1109/TMTT.2013.2287675.

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Impact of Receiver Sensitivity

Receiver Sensitivity: Minimum signal power Smin detected by Radar

receiver.
Rmax as function of Smin

Pt G 2 2
Rmax = 3
(8)
(4⇡) Smin

In terms of minimum Signal to Noise ratio.

✓ ◆
S Signal Power Smin
= = (9)
N min Noise Power kTo BFn

* k: Boltzmann’s Constant.
* To : Standard Temperature.
* B: Bandwidth of the receiver.
* Fn : Noise Figure.
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Need for Transmitting More Then One Pulse.

* Coherently combine the pulses: Improves the SNR.

Figure 9: Pulsed Radar waveform with PRI: tp

Second-Time-Around-Echoes: Echoes that arrive after transmission of

next pulse.

Maximum Unambiguous Range

c o tp
Rur = (10)
2

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Range Resolution and Average Power.

Range Resolution
c o tw
R= (11)
2

Average Power
Ztw
1
PA = Pp dt.
tp
0
tw
PA = Pp (12)
tp

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Categories of Radar

Parameter Radar A Radar B Radar C Radar D Radar E

Frequency
76 - 77 77 - 81 77 - 81 77 - 81 77 - 81
Band [GHz]
Range [m] Upto 250 Upto 100 Upto 100 Upto 100 Upto 50
Range Res[cm] 75 Upto 7.5 7.5 7.5 7.5
EIRP [dBm] 55 33 33 45 33
Azimuth 3-dB TX: ±12.5 TX: ±12.5 TX: ±16 TX: ±27
TX/RX: ±5
beamwidth [ ] RX: ±13.5 RX: ±16 RX: ±16 RX: ±27
Elevation 3-dB
TX/RX: ±3 TX/RX: ±5 TX/RX: ±5 TX/RX: ±5 TX/RX: ±5
beamwidth [ ]

Radar A : Long Range Radar (LRR).

Radar B-D : Medium Range Radar (MRR).
Radar E - : Short Range Radar (SRR).

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Radar Automotive Applications.

Figure 10: Image Source : W. Stark, M. Ali, and M. Maher,“Digital Code Modulation
(DCM) Radar For Automotive Application,” Uhnder White Paper, 2020.

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Numerical Problem

Consider a pulsed Radar with following specifications

i Frequency: 77 GHz.
ii Maximum Unambiguous Range: 250 m.
iii Range Resolution: 75 cm.
iv Receiver Sensitivity: 115 dBm.
v RCS: 1 m2 .
vi Gain of the antenna: 30 dBi
Determine Peak transmitter power, pulse width, pulse repetition
interval, EIRP in dBm, and average transmitted power.

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Solution

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Solution Contd.

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 Thank You

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