MM-wave radar based guiding system

Abstract

The present invention discloses mm-wave radar sensor system and its method of operation, comprising utilization of the passive markers, being placed on known objects. The proposed system can track distance and 3D orientation of the known objects under observation, can differentiate the shape classes of the previously passively marked known objects, and can improve navigation redundancy and autonomous driving in pre-defined environments, by using passive markers being placed on the traffic environment. Generic object can also be human being, having cloths having passive markers.

Claims

1: mm-Wave System comprising the one apparatus 100 with mm-wave HW radar functionality, and at least two apparatuses 2000 being placed physically at the distance from apparatus 100, where mm-wave declares operation between 30 and 300 GHz, where first apparatus 100 contains: At least one high-gain planar antenna for transmitting mm-wave radio signals 21, where the high-gain planar antenna has at least two radiation elements; At least one high-gain planar antenna for receiving mm-wave radio signals 110, where the high-gain planar antenna has at least two radiation elements; Integrated mm-wave radio front end 10, implemented in arbitrary semiconductor technology, having on-chip integrated mm-wave voltage control oscillator, mm-wave power amplifier, at least one mm-wave IQ demodulator, digital control interface, power supply; Digital processing functionality 30 with arbitrary hard wired and SW digital processing capability, being able to digitally process the signal coming out of the entity 10, including controlling functionality and calculation and memory capacity for performing digital signal processing by arbitrary type of the realization options Wired communication interface 60 to connect first Apparatus 100 to the infrastructure entity 1000, being outside the apparatus 100, being released by the plurality of the technologies and communication protocols Supporting circuitry 50, including mechanical interface to infrastructure environment 1000, where the first Apparatus 100 is connected to the infrastructure environment, and supporting electronic circuitry for provide the power supply from the vehicle environment 1000 to the first apparatus 100. where the second apparatus 2000: is a passive, without power supply, and without capability of charging by the illumination of the mm-waves being released by plurality of realization options, having a key feature to reflect the incident mm-wave waves coming from apparatus 100, in the same direction, where mm-waves are approaching the apparatus 2000. where at least two apparatuses 2000 are attached to the known and pre-defined object 300.

2: System according to claim 1, where where at least two apparatuses 2000 are attached to the known and pre-defined apparatus 2000 positions inside known and pre-defined environment for vehicle 301, movement and parking.

3: System according to claim 1, where where are least three apparatuses 2000 are attached to the known and pre-defined at least two classes of known object classes 304 and 305, where they are placed on the each object surface in the way to define unique combination of the shape, allowing object class recognising, by recognising unique positions of the apparatuses 2000 at the object classes surface.

4: System according to claim 1, where where at least one apparatus 2000 are attached to cloths of the human being 307, allowing its marking, and stronger radar cross sections reflection on the predefined distance to the apparatus 100, as compared to the case where at the same distance related marking is not present 308.

5: System according to claim 1, where where at least one apparatus 2000 are attached to cloths of the human being 307, and human being 308, allowing its marking, in the way that they have different geometrical positions on the cloths, allowing apparatus 100 to detected at least two different geometrical positions of the apparatuses 2000.

6: System according to claim 1, where where at least two apparatus 2000 are attached, dense one to another and integrated in the vehicle environment infrastructure 311 and 310, to ensure larger radar cross section, as in the case if they are not present, being illuminated by apparatus 100, where apparatus 100 is on the other vehicle platform.

7: System according to claim 6, where apparatus 100 is on the other static traffic infrastructure, observing and illuminated by mm-waves the vehicle 311, having integrated apparatuses 2000.

8: System according to claim 1, where at least two apparatus 2000 are attached, dense one to another and integrated in the static traffic infrastructure known objects 315, with known exact positions, close to the traffic roads 316, to ensure larger radar cross section, as in the case if apparatuses 2000 are not present on object 315, being illuminated by apparatus 100, where apparatus 100 is on the moving vehicle platform, and where the known objects 315, are arbitrary shape and size and arbitrary but known micro position related to the traffic roads 316.

9: System according to claim 8, where at least two groups of apparatuses 2000, each group having more than two apparatuses 2000, are realized on the known objects 315, being able by the illumination by the apparatus 100, with the same distance to the object 315, to generate clear differentiation in the receiving signal pattern, able to differentiate different class of objects 315, depending of the geometrical arrangements of the groups of apparatuses 2000, between them.

10: System according to claim 1, where at least one apparatus 2000 is integrated in the safety belt, which is part of the vehicle seat 317, and where apparatus 100 is illuminating vehicle seat 317, being integrated in the vehicle environment and connected to the vehicle infrastructure 1000.

11: Method of operation, utilizing the System being described in claim 1 where method of operation comprising three operation steps: marking of the known object being declared as a first operation step, position detection of each apparatus 2000, by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and method for calculation of the 3D position of the known object 300, being declared as third operation step to be executed after the second step is executed, where the first operation step has following sub-set of operations: placing at least two apparatuses 2000, at the surface of the known object 300, where the surface of the object 300 is in the direction of the illumination of the apparatus 100, and where the apparatuses 2000 are placed at the largest possible distance one from the another, where its geometrical distance is predefined and known where the second operation step has following sub-set of operations: Transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 and at least 120 receiver chains; Digital signal processing of the signal in 30, by detecting position of each apparatus 2000, where the position definition can be reduced to angular position definition of each apparatus 2000, if the distance 500 and 501 is not changing. Information of the position of each apparatus 2000 is optionally communicated to the infrastructure environment 1000, by means of entity 60 where third operation step being executed after the second operation step, has following sub-set of operations: Having position of the apparatuses 2000 calculated, and having its known geometrical position of the illuminated surface of the known object 300, the entity 30, will calculate 3D position of the known object 300, meaning object 300 orientation, being defined by the angles 502, 503, and 504, as well as the distance 501, if 501 changes. Information of the 3D position of the known object 300 is communicated to the infrastructure environment 1000, by means of entity 60

12: Method of operation, utilizing the System being described in claim 2 where method of operation comprising three operation steps: marking of the known vehicle moving environment being declared as a first operation step, position detection of each apparatus 2000, by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and method for calculation of the vehicle 301 trajectory moving within known and marked environment, being declared as third operation step, to be executed after the second step is executed, where the first operation step has following sub-set of operations: placing at least two apparatuses 2000, at the predefined positions of the known area to be used by the vehicles 301, 302, 303, surface of the apparatus 2000 are in the direction of the expected illumination of the apparatus 100, and where apparatus 100 is integrated in the moving vehicle 301 where the second operation step has following sub-set of operations: Transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 and at least 120 receiver chains; Digital signal processing of the signal in 30, by detecting position of each apparatus 2000, in the illumination area, in front of the moving vehicle trajectory 2001, of the vehicle 301, where the position definition can be reduced to angular position definition of each apparatus 2000, due to the fact that their position in pre-defined environment is known Information of the position of each apparatus 2000 is communicated to the vehicle 301 environment, by means of entity 60 where third operation step being executed after the second operation step, has following sub-set of operations: Having position of the apparatuses 2000 calculated, and having its known position in the known area for moving vehicles, the vehicle system is calculating vehicle 301 position in the known vehicle movement area The vehicle 301 is calculating the ongoing movement by calculating the vehicle trajectory, to avoid obstacles in the predefined known vehicle moving area, allowing optional autonomous driving of the vehicle 301 in the predefined known area.

13: Method of operation, like in claim 12 where the predefined vehicle moving environment is a parking facility.

14: Method of operation, utilizing the System being described in claim 3 where method of operation comprising three operation steps: marking of the known object classes being declared as a first operation step, position detection of each apparatus 2000, by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and method for selection of the known object classes, being declared as third operation step, to be executed after the second step is executed, where the first operation step has following sub-set of operations: placing at least three apparatuses 2000, at the predefined known class of the objects 304 on the object surface in the direction of the expected illumination of the apparatus 100, each class of the known object with different geometrical orientation of the apparatuses 2000 where the second operation step has following sub-set of operations: Transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 and at least 120 receiver chains; Digital signal processing of the signal in 30, by detecting position of each apparatus 2000, in the illumination area, of the objects under observation, where the position definition can be reduced to angular position definition of each apparatus 2000, since their distance to the apparatus 100 could be known where third operation step being executed after the second operation step, has following sub-set of operations: Having position of the apparatuses 2000 calculated, the environment system 1000 is calculating detected pattern of the positions of the apparatuses 2000, identifying the class of the object under observation The environment system 1000 is initiated further actions of the platform having apparatus 100, depending of the identification of the pre-defined class of object.

15: Method of operation, like in claim 14 where the platform having apparatus 100 is crane and one of the class of pre-defined objects is container.

16: Method of operation, like in claim 14 where the platform having apparatus 100 is a robot.

17: Method of operation, utilizing the System being described in claim 4 where method of operation comprising three operation steps: marking of the cloths of the human being being declared as a first operation step, position detection of each apparatus 2000, by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and method for selection of the known object classes, being declared as third operation step, to be executed after the second step is executed, where the first operation step has following sub-set of operations: placing at least one apparatus 2000, at the cloths of selected human being 307 on the object surface in the direction of the expected illumination of the apparatus 100, where the second operation step has following sub-set of operations: Transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 and at least 120 receiver chains; Digital signal processing of the signal in 30, by detected receiver power level where third operation step being executed after the second operation step, has following sub-set of operations: Having receiver strength being calculated, the environment system 1000 is selecting if the human being in predefined distance area has marked cloths The environment system 1000 is initiated further actions of the platform having apparatus 100, depending of the identification of marked cloths.

18: Method of operation, utilizing the System being described in claim 5 where method of operation comprising three operation steps: marking of the cloths of the human being being declared as a first operation step, position detection of each apparatus 2000, by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and selection of the marked cloth class, being declared as third operation step, to be executed after the second step is executed, where the first operation step has following sub-set of operations: placing at least two apparatuses 2000, at the predefined positions of the cloths of the human being in the direction of the expected illumination of the apparatus 100, where the geometrical positions of the apparatuses 200 is different for each class of the marked cloths where the second operation step has following sub-set of operations: Transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 and at least 120 receiver chains; Digital signal processing of the signal in 30, by detecting position of each apparatus 2000, and its geometrical positions where third operation step being executed after the second operation step, has following sub-set of operations: Having position of the apparatuses 2000 calculated, event of detection specific geometrical pattern being mapped to the specific class of marked cloths is calculated The environment system 1000 is initiated further actions of the platform having apparatus 100, depending of the identification of marked cloths.

19: Method of operation, utilizing the System being described in claim 6 where method of operation comprising three operation steps: placing markers in the vehicles body being declared as a first operation step, reflection detection by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and event detection, being declared as third operation step, to be executed after the second step is executed, where the first operation step has following sub-set of operations: placing at least two apparatuses 2000, in the vehicle body where the second operation step has following sub-set of operations: Transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 receiver chain; Digital signal processing of the signal in 30, by detecting reflection at least two apparatuses 2000 where third operation step being executed after the second operation step, has following sub-set of operations: Detecting the reflection and distance to the vehicle in the direction of the observation The environment system 1000 is initiated further actions of the platform having apparatus 100

20: Method of operation, utilizing the System being described in claim 8 where method of operation comprising three operation steps: placing markers in the known object with known position close to traffic roads being declared as a first operation step, reflection detection by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and event detection and position calculations, being declared as third operation step, to be executed after the second step is executed, where the first operation step has following sub-set of operations: placing at least two apparatuses 2000, in the known object 315 having known position where the second operation step has following sub-set of operations: Transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 receiver chain; Digital signal processing of the signal in 30, by detecting reflection at least two apparatuses 2000 where third operation step being executed after the second operation step, has following sub-set of operations: Detecting the reflection from the known object 315 and distance to the known object Using relative distance to the known object, an known object position from the available navigation information from the vehicle, recalculate and enhance the position of the vehicle having apparatus 100.

21: Method of operation, utilizing the System being described in claim 9 where method of operation comprising three operation steps: placing group of markers in the known object with known position close to traffic roads being declared as a first operation step, group of markers detection by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and event detection with position calculations, being declared as third operation step, to be executed after the second step is executed, where the first operation step has following sub-set of operations: placing at least two groups each having at least two apparatuses 2000, in the known object 315, having known position where the second operation step has following sub-set of operations: Transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 and 120 receiver chain; Digital signal processing of the signal in 30, by detecting reflection from the known object 315 and detection the positions of the group of apparatuses 2000 where third operation step being executed after the second operation step, has following sub-set of operations: Recognising if more than one group of the apparatuses 2000 are presented on the known object 315 on its known position. if the more than one group of the apparatuses are detected on the known object 315 calculate their relative positions Encode the event being coded by the position of the groups of apparatuses 2000 on the known object 315 Using relative distance to the known object, an known object position from the available navigation Information from the vehicle, recalculate and enhance the position of the vehicle having apparatus 100, and take the measures being related to the encoded event.

22: Method of operation, utilizing the System being described in claim 10 where method of operation comprising three operation steps: seat occupation detection being declared as a first operation step, group of markers detection by apparatus 100 being declared as second operation step, to be executed after the first step is executed, and event detection with combined seat occupation and safety belt lock detection, being declared as third operation step, to be executed after the second step is executed, where the first operation step has following sub-set of operations: illumination of the vehicle seat 317 by the apparatus 100, transmission of mm-wave signals generated in 10 using 21; Receiving mm-wave signals reflected from observation area using at least 110 and 120 receiver chain; and detection of the seat occupancy by the extraction of at least one of the vital signs, and in case of detection providing this information to the vehicle infrastructure 1000 where the second operation step has following sub-set of operations: vehicle infrastructure 1000, in case of positive seat occupation detection by human being, is initializing detection of the apparatus 2000 in the field of the apparatus 100 illumination by the apparatus 100 where third operation step being executed after the second operation step, has following sub-set of operations: If the detection of the apparatus 2000 in the second operation step two is positive, this information is sent to the vehicle infrastructure 1000, and vehicle infrastructure is initialising further actions, having information that the seat under observation is occupied by the human being and the human being has safety belt in the position determining safety belt locking. If the detection of the apparatus 2000 in the second operation step two is negative, this information is sent to the vehicle infrastructure 1000, and vehicle infrastructure is initialising further actions, having information that the seat under observation is occupied by the human being and the human being dies not have safety belt in the position determining safety belt is locked.

23: like in all previous claims where the passive apparatus 2000 is realized as corner, having front side toward the illumination being metal coated, and being realized by the plurality of the realization options.

24: like in claim 1, where the passive apparatus 2000 is realized as printed planar structure, reflected ways in the same polarization as received.

25: like in claim 1, where the passive apparatus 2000 is realized as printed planar structure, reflected ways in the cross polarization as received.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0058] FIG. 1 presents first class of proposed system application scenarios:

[0059] FIG. 1a where the apparatus 100 is mm-wave radar system observing known object market with apparatuses 2000 being attached to the known object on its surface facing mm-wave radar apparatus 100, where apparatuses 2000 are passive metal coated or metal structures of the specific shape, and they are positioned to geometrically may define virtual geometrical plane.

[0060] FIG. 1b proposed system is able to calculate the distance of the know object to apparatus 100 and its 3D orientation in the space, using proposed method of operation

[0061] FIG. 2 presents second class of proposed system application scenarios, where the autonomous driving in known environment is performed, where the enclosure for driving is marked with proposed apparatuses 2000 on the walls or on specific areas positions in the pre-defined and known area, where the radar sensor 100 is in the moving object approaching and moving inside the known area. The environment may be advantageously parking space or garage environment.

[0062] FIG. 3 presents third class of proposed system application scenarios, where apparatuses 2000 are positions on the specific surface of the different known objects, in different geometrical shape allowing their classification and identification, being observed by the apparatus 100, where apparatus 100, purpose is to identify the existence, position and 3D of the specific shapes class of objects.

[0063] FIG. 4a presents forth class of proposed system application scenarios, where the proposed system differentiates by observing person in specific position if the person is having cloths with integrated apparatus 2000 and person does not having cloths with integrated apparatus 2000.

[0064] FIG. 4b presents forth class of proposed system application scenarios, where the proposed system differentiates by observing person in specific position, if the person is having cloths with integrated apparatuses 2000 and person having cloths with more apparatuses 2000, or the same number of apparatuses 2000, but with different positions.

[0065] FIG. 5a presents fifth class of proposed system application scenarios, where the proposed system is used to increase intentionally the radars cross sections of the vehicle in the specific critical direction like vehicle corners. This allows that the blind spot detection systems of other vehicle can recognise vehicle with integrated apparatus 2000, at much more distance or with critical environment situation with much more probability of detection, which directly improves overall safety in autonomous driving.

[0066] FIG. 5b presents fifth class of proposed system application scenarios, where the sets of more than one apparatus 2000 are existing behind vehicle plastic enclosure.

[0067] FIG. 5c presents fifth class of proposed system application scenarios, where behind plastic coating of the bumper, 3D plastic parts with specific metallic coating are realized to get in cost effective way the sets of proposed apparatuses 2000.

[0068] FIG. 6a presents sixth class of proposed system application scenarios, where the proposed system is used to enhance traffic road navigation, by placing navigation enhancement objects 315 along the roads, and aside the road lines.

[0069] FIG. 6b presents sixth class of proposed system application scenarios, where the navigation enhancement objects 315 has more than one apparatuses 2000.

[0070] FIG. 6c presents sixth class of proposed system application scenarios, where the navigation enhancement objects 315 has more than one groups of the apparatuses 2000, being able to transmit to the radar system specific coded message, related to the traffic.

[0071] FIG. 7 presents the seventh class of the proposed system applications, where the proposed system is applied for the seats without necessary needs for power supply, where the proposed system is detected simultaneously if the seat is occupied and if the safety belt is locked, where ate late one apparatus 2000 is integrated in the safety belt.

[0072] FIG. 8 presents functional blocks of the proposed Apparatus 100

[0073] FIG. 9a presents possible realisation options of the Apparatus 2000, where presents metalized corner structure

[0074] FIG. 9b presents possible realisation options of the Apparatus 2000, where presents possible realisation options of the Apparatus 2000, where presents planar passive printed structure changing polarization of reflecting waves in the same direction of incident waves arrival

[0075] FIG. 9c presents possible realisation options of the Apparatus 2000, where presents planar passive printed structure realized by patch type of antennas

[0076] FIG. 9d presents possible realisation options of the Apparatus 2000, where planar passive printed structure realized by patch type of antennas changing polarization of reflected waves in the same direction of incident waves arrival

DESCRIPTION OF EMBODIMENTS

[0077] mm-Wave System comprising the one apparatus 100 with mm-wave HW radar functionality, and at least two apparatuses 2000 being is placed physically at the distance from apparatus 100, where mm-wave declares operation between 30 and 300 GHz like in FIG. 1a and FIG. 1b. Apparatus 100 contains: [0078] At least one high-gain planar antenna for transmitting mm-wave radio signals 21, where the high-gain planar antenna has at least two radiation elements; [0079] At least one high-gain planar antenna for receiving mm-wave radio signals 110, where the high-gain planar antenna has at least two radiation elements; [0080] Integrated mm-wave radio front end 10, implemented in arbitrary semiconductor technology, having on-chip integrated mm-wave voltage control oscillator, mm-wave power amplifier, at least one mm-wave IQ demodulator, digital control interface, power supply; [0081] Digital processing functionality 30 with arbitrary hard wired and SW digital processing capability, being able to digitally process the signal coming out of the entity 10, including controlling functionality and calculation and memory capacity for performing digital signal processing by arbitrary type of the realization options [0082] Wired communication interface 60 to connect first Apparatus 100 to the infrastructure entity 1000, being outside the apparatus 100, being released by the plurality of the technologies and communication protocols [0083] Supporting circuitry 50, including mechanical interface to infrastructure environment 1000, where the first Apparatus 100 is connected to the infrastructure environment, and supporting electronic circuitry for provide the power supply from the vehicle environment 1000 to the first apparatus 100.
where the second apparatus 2000 is a passive, without power supply, and without capability of charging by the illumination of the mm-waves being released by plurality of realization options, having a key feature to reflect the incident mm-wave waves coming from apparatus 100, in the same direction, where mm-waves are approaching the apparatus 2000.

[0084] At least two apparatuses 2000 are attached to the known and pre-defined object 300. The Method of operation related to the FIG. 1 contains three steps, where the first operation step has following sub-set of operations: [0085] placing at least two apparatuses 2000, at the surface of the known object 300, where the surface of the object 300 is in the direction of the illumination of the apparatus 100, and where the apparatuses 2000 are placed at the largest possible distance one from the another, where the its geometrical distance is predefined and known. If we place three apparatuses 2000, not being in one line on the surface of the known object 300, we have full sets of information to detect the object 300 orientation if the plane being defined by the places of positioning three apparatuses 2000 changes its positions.
where the second operation step has following sub-set of operations: [0086] Transmission of mm-wave signals generated in 10 using 21; [0087] Receiving mm-wave signals reflected from observation area using at least 110 and at least 120 receiver chains; [0088] Digital signal processing of the signal in 30, by detecting position of each apparatus 2000, where the position definition can be reduced to angular position definition of each apparatus 2000, if the distance 500 and 501 is not changing. If the distance is changing, we need to calculate the distance by calculated three distances to the marked objects. If the possible movement of the object 300 is limited to the one rotation or other type of one way of freedom movement, two apparatuses 2000 would be enough for the detecting and characterizing the movement of the known object 300. If the full 3D movement may appear, the angular and distance position for at least three attached apparatuses would need to be calculated, which would mean that all for receiver for special angle detections to the apparatuses 2000 would be required. [0089] Information of the position of each apparatus 2000 is optionally communicated to the infrastructure environment 1000, by means of entity 60
where third operation step being executed after the second operation step, has following sub-set of operations: [0090] Having position of the apparatuses 2000 calculated and having its known geometrical position of the illuminated surface of the known object 300, the entity 30, will calculate 3D position of the known object 300, meaning object 300 orientation, being defined by the angles 502, 503, and 504, as well as the distance 501, if 501 changes. [0091] Information of the 3D position of the known object 300 is communicated to the infrastructure environment 1000, by means of entity 60.

[0092] In the praxis proposed system and method operation could be applied to the class of applications, where for example the sensor is monitoring orientation of the moving object doing translation movements and rotation in one plane having constant distance to the sensor. The proposed scenario will work also in case when the moving platform, being assessed from the top has metal parts or the area where the moment is happening contact metal parts. The today based radar sensor would have difficulties to detect the movement of the object, in virtually same distance to the sensor.

[0093] In the FIG. 2 application scenario related to the autonomous driving in the pre-defined area like parking spaces and garages are described. We have installed apparatuses 2000 in the specific known positions in the known area of vehicle movement. The vehicle 301 is entering parking area and has apparatus 100 on the board looking in the direction of the vehicle movement. The apparatus 100 detect the existence of the passive apparatuses 2000. The apparatus 100 is detecting angular positions and distances to the passive apparatuses 3002 and 300, and the vehicle autopilot is calculating the trajectory 2001, so that the vehicle 3001 is autonomous or manually driven by driver with warning assistance from the markers calculate or take, respectively trajectory 2001 being in the middle between the apparatuses 3001 and 3002. The vehicle system knows which specific parking space is entered, and the vehicle navigation system has this information, including the distances between the apparatuses 2000 and their positions in the parking and moving area. As the vehicle 301 is moving between the parked cars 302 and 303 they are approaching apparatuses 3003 and 3004 being attached to the wall. Having their positions being calculated by apparatus 100, the vehicle 301 can park exactly in the middle of the parking space and at exact prefer distance to the wall. We are proposing using practically enhanced radar cross sections and clear visibility of the apparatuses 2000 in the radar signal being received by the apparatus 100, much better as in the case when the apparatuses 2000 were not present.

[0094] FIG. 3 describes the third application scenario being related to the detection of the class of the pre-defined and known objects. Those classes of the object are for example denoted as 304, 305, 306 and may have other outlooks like class of simply quadratic type of shapes. For example, if we have a harbour and crane looking from the top to the down, the crane will see different type of the objects. If these objects are marked by the attachment of the apparatuses 2000, the crane having apparatus 100 looking top to the down, will recognized shapes below the carne, and make take different type of actions, like move one shape by detecting it from one place to another. Moreover, if we have for example metal container being marked from the top by fort apparatuses 2000 or group of apparatuses 2000, the crane may align its picking precision very preciously due to the attached 4 group of markers to pick up the container in the proper ways, autonomously. As a second feature of the proposed system in this application scenario we may observe the known object 306, which may be a cylinder. Through smart positions of the apparatuses 2000 and their detection we may also combine the shape detection with the orientation of the object to the crane. In this particular case we may see if the cylinder are rotated and with which angle.

[0095] FIG. 4a and FIG. 4b show application scenario, where proposed passive apparatuses 2000 or a group of apparatuses 2000 are Integrated in the clothing of the people intentionally. Having apparatuses being integrated in the cloths, will increase the radar cross section, or in other received signal after radar illumination will be stronger as a signal coming by the same person on the same distance and same scenario but without having one or more apparatuses integrated in the cloth. We are proposing usage of the integrated apparatuses 2000 in the cloths by the class of the people, having allowance to be qualified to be on the special places under observation. The practical application is that the person being temporary or permanently on the specific place under radar-based observation, with apparatus 100, being integrated with the environment infrastructure, is checked to have cloths being approved for a person being on the specific place. So the system may see that a human being is on the specific place, but can further confirm that this person is using clothes, giving him permission to be on the specific place. This approach can improve safety and security in the private or government environments. The FIG. 4b) show further case that different classes of the groups of the apparatuses 2000 are integrated in the cloths of the people. Being assigned for specific public for private control environment. With this proposed application scenario, the system may control for example if the person is allowed to be in the specific place, by working specific assigned cloths, and after that to make further classifications, to selected for example if the people working in specific organisation are allowed to access specific areas assigned to their class of duties. In the scenario FIG. 4b) two apparatuses 2000 or two group of the apparatuses 2000, denoted as 3008 and 3009 are integrated in the cloths. After illumination by the apparatus 100, the apparatus 100, will have calculated firstly that the receiving signal is stronger for the specific distance, compared to case when no apparatuses 2000 are in cloths, and the system may conclude that the person is part of the crew working for organisation. In the second step the systems will calculate the angles to the group of the apparatuses and will match the calculated data with the pre-defined class of the patters being memorized in the system and decide to which class of the crew is present, and possibly if the specific crew members are eligible to be on the specific place and in the specific time. This type of the information can be helpful for increasing the safety and security of organizations, with inexpensive means. To select among the two type of geometrical positions of the apparatuses 2000, apparatus 100 would need to have at least two receiver changes 110 and 120, being able to detect angles in one plane for example.

[0096] FIG. 5a and FIG. 5b introduce further application scenario. In the FIG. 5a vehicle environment 311 is shown. Use case of the bumper 309 as a part of the vehicle 311 is considered. One part of the bumper 310, preferable the part of the corner, contains more than one apparatuses 2000, like seen in the FIG. 5b. FIG. 5c shows an realization option how the apparatuses 2000 could be realized by metalized plastic coating 313 on plastic material 314, hidden after plastic material of the bumper. The clear advantage of the approach is that the vehicle having apparatuses 2000, have better cross section as the vehicle without integrated apparatuses 2000, which plays significant role exactly in cases where the radar-based illumination is coming with sharp angle to the corner of the car. The typical use case is blind spot detection where moving vehicle is watching the vehicle on the neighboured traffic line, illuminated exactly the corner of the passing vehicle. By having proposed set of apparatuses 2000 being interrogated in the vehicle nevirapine, preferable on the bumper corner, the observing blind spot detection radar system will obtain significantly stronger signal as in case of not having apparatuses 2000 being integrated in the observed vehicle. This may increase the sensitivity in the observing blind spot detector significantly and therefore improve the safety in the traffic. By integrated apparatuses 2000 in more and more surface of the vehicle environment overall radar cross section and radar general visibility by apparatus 100 will be increased. The apparatus 100 of the proposed system can be advantageously be blind spot detection, but also in case or rear radar monitoring and in case of front radar monitoring role, the system performance improvement, regarding radar sensitivity, and detection range will be increased. The third proposed application scenario is that the apparatus 100 is used as part of the traffic infrastructure monitoring system. In that case also in very bead weather condition and in full fog environment the traffic control system many work with the extended sensitivity by monitoring traffic and passing vehicles, if those vehicles would have proposed integrated apparatuses 200 in their embodiment.

[0097] FIG. 6a, FIG. 6b and FIG. 6c are showing newly proposed applications scenario with the innovative system. It is proposed to place close to the traffic roads known object 315, having pre-defined and known positions, having arbitrary shape, and arbitrary positions close to the road, beside the traffic lanes and across the traffic lanes, like shown in FIG. 6a. Prosed known objects 315 have a sets of at least two and preferably as much as possible apparatuses 2000 being integrated in the object 315. The basic idea of introducing the known object 315, with known positions is to provide navigation redundancy, and increase the local accuracy of the vehicle positioning, which could be important especially in case of the autonomous driving. By passing close to the specific known object, and illuminated them by the apparatus 100, being integrated in the moving vehicle, reflected waves from the known objects 315, will act as navigation beacon to the moving vehicle system. Those reflected ways will differentiate significantly for other reflection and will be due to large cross sections recognised as enhancement to the navigation and local positioning of the moving vehicle. Having reflection from the object 315, apparatus 100 may calculate the distance to the object, and since the position of the object 315 is known, the system will determinate the position, which may be used in sensor fusion manner for the positioning enhancement. In the case of total fog, where the video system cannot be used, and lidar system has limited observation range, the proposed infrastructure-based solutions of the known object 315 will be very valuable. Radar system may detect those objects at very large distances and recognize them as navigation beacons. This may enhance safety of the autonomous driving. FIG. 6c shows special case of the deployment of the known objects 315, where the groups of the apparatuses 2000 are used. The positioning of the group of the apparatuses 2000 within one object 315 may be detected by the apparatuses 100. That means that known object 315 may be used also to send simple coded information related to the combination of the deployed group of apparatuses 2000. That would mend that one each of the field having group of the apparatuses in case of having them are transmitted code 1 and in case of not having them the code 0. By this proposed methodology traffic infrastructure may send coded message to the radar based system apparatus 100, being in the moving vehicle. If we have 6 fields, we may have 6 digit binary word coding scheme, being recognized by the radar system in all wetter conditions. If the object 315 is along the road and long, the more comprehensive message may be generated, and with reflection sent to the moving vehicle by using proposed apparatuses 100 and sets of groups of apparatuses 2000. For example, associated walls and sound protection walls along the traffic lines, may have apparatuses 200 signalling that the crossing is coming at the specific distance. If the sets of the apparatuses 2000, within the known object 315, may be mechanically moved in one of the several positions of the 0 and 1 filed the message to the incoming cars having apparatuses 100, can be sent dynamically, which could dramatically improve the safety in the autonomous driving, by introducing additional communication way from the infrastructure to the moving vehicle.

[0098] Furthermore, to described applications, where proposed system, being defined through its apparatuses and method of operation, is used, the calculated information and events may be used for the statistical evaluation of the data.

[0099] This includes: [0100] Statistic evaluation of the object positions mapped with data being used for the calculation, providing profiling of the events and measured objects. [0101] Statistic evaluation of the object class being recognized, with the data being used for the calculation, to enable machine learning in recognizing the data with better accuracy [0102] Counting of the object or class of object being detected [0103] Statistic evaluation of the observed object classes

[0104] By using artificial intelligence algorithmics, with machine learning in the place, the proposed system, being defined by its apparatuses and methods of operations, can be advantageously used for moving robots and machines, in industrial and daily life environments.

[0105] By using artificial intelligence algorithmics, with machine learning in the place, the proposed system, being defined by its apparatuses and methods of operations, can be advantageously used for autonomous driving.

[0106] By using artificial intelligence algorithmics, with machine learning in the place, the proposed system, being defined by its apparatuses and methods of operations, can be advantageously used for updating real time mapping data, where vehicle has on the board apparatus 100, and apparatuses 2000 are positioned close or across the roads.