The First CMOS SoC of 77GHz mmWave Sensor Used in Automotive and Industrial 2017/11/15-16 TI Jesse Wang
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Agenda • Technology Overview – TI 77GHz mmWave introduction
• Core Applications – Automotive – Industrial
• Automotive & Industrial Applications – Example & TI solution – Development tool
• Measurement – Joint-Test with Rohde & Schwarz
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Basics of FMCW (Frequency Modulation Continue Wave)
IF frequency
IF frequency = Tx frequency – Rx frequency
By working with FFT on these IF signals to get Range, Velocity, Angle information of detecting object
The fundamentals of millimeter wave sensors, http://www.ti.com/lit/wp/spyy005/spyy005.pdf
mmWave Sensors – Technology Overview What is mmWave sensing
• mmWave is the band of spectrum between 30GHz and 300GHz • Electromagnetic waves used for sensing, imaging and communications • mmWave sensors measure with high accuracy range, velocity and angle of remote objects • High precision range measurement – tank level probing, displacement sensing, and vibration monitoring
When to use mmWave sensing?
• Smarter infrastructure – occupancy sensing, traffic monitoring, lighting control, gesture recognition • Advanced navigation for drones and robotics – sense and avoid, landing assistance, collision avoidance, ground speed sensing • Automotive - Adaptive cruise control, automatic emergency brake, lane change assist, and more
Why Now?
•
mmWave technology is robust against environmental influences such as bad light and weather conditions and extreme temperatures
•
RFCMOS technology enables analog/digital integration in a single low-power, small, single-chip solution
•
Highly linear signal generation, ultrawide resolution, robust calibration/monitoring, and more for unprecedented accuracy in RF sensing 4
The last 7 years 2010
2011
2012
2013
2014
2015
2016
Kickoff Kilby Radar 160 GHz single chip embedded antenna
Test Chip 1 77 GHz Module level circuits
Test Chip 2
Test Chip 3
AWR1243
AWR1642
76-81 GHz Single chip Package variant 1 Package variant 2 Embedded Antenna Field Trials
76-81 GHz Module level circuits Final tune Model matching
76-81 GHz Single Chip Transceiver Production intent
76-81 GHz Single Chip Radar Production intent
Sampling Now MP in Q1 2018
Sampling Now MP in Q4 2017
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TI Single-Chip CMOS Radar
SiGe BiCMOS
CMOS SiGe BiCMOS
PCB
PCB PCB
Discrete Multi-Chip mmWave Sensor • • • • • •
Discrete solution – expensive Complex and critical signal routes Unconventional packaging Prone to noise Lack of system level observability Crude implementation of RF and Baseband safety
TI Single-Chip mmWave Sensor • • • • • •
Smaller in size Simpler design Built in monitoring and calibration (SIL) High Resolution, less false positives Programmable core Lower Power 6
Delivering mmWave sensing solutions SILICON
mmWaveSDK
mmWave SOC
INDUSTRIAL
AUTOMOTIVE ECOSYSTEM PARTNERS
mmWaveStudio TOOLS & KITS
TRAINING
TI DESIGNS
SUPPORT
A N A LY T I C S
MACHINE VISION
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mmWave Sensors – Presence on ti.com Find mmWave through Sensor Portal
mmWave Portal: Each title will drive to unique landing pages for Auto and Industrial Automotive radar
Industrial radar
Get the training / support / Labs Find mmWave through Applications
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Beyond Automotive
Automotive
mmWave sensing applications
Adaptive Cruise Control
Automatic Emergency Brake
Lane Change Assist
Blind Spot Detection
Level Probing
Building Automation
Traffic Monitoring
Factory Automation
Precision Measurement
Occupancy Sensing
Perimeter Surveillance
Drones
Vibration Monitoring
Gesture Recognition
Vital Sign Monitoring
Industrial Transport & Robots 9
Single chip solution
Applications
AWR1243
150 m + RCS: 10 – 50sqm
• Adaptive Cruise Control • Automated Highway Driving AWR1243
100 m – 150 m RCS: 1 – 10sqm
20 m – 100 m RCS: 0.1 – 1sqm
5 m – 20 m RCS: 0.1sqm 2 cm – 5 m RCS: micro sqm
Works with external MCU/DSP
• Automated Emergency Braking • Automated Urban Driving • Pedestrian Detection • Bicyclist Detection • BSD, RCA, LCA • Proximity warning • Parking • Stop and Go Traffic • Proximity warning • Chassis sensors • Gesture detection • Driver monitoring • Occupant detection
AWR1642
AWR1443
AWR1642
AWR1443
AWR1642
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Enabling Innovation in ADAS – AWR1642 Ultra short / Short range (USRR/SRR)
Imaging / cascading radar •
Small, low power single chip solution – AWR1642
•
Cost optimized BOM – cheaper PCB, better yield
•
Single chip radar, monolithic processing through RF/analog samples to object detection
•
Power consumption as low as 2W leads to lighter housing
•
Blind spot detection, pedestrian/bicyclist detection, park assist, lane change assist, forward/rear collision avoidance Parameter Far Range Near Range
120°
160°
AWR16
10 m 100 m
Max Range
100 m
10 m
Range Resolution
40 cm
4 cm
Max Velocity
90 kmph*
30 kmph
Velocity Resolution
1 kmph
1 kmph
RCS
1 Sq m ( Pedestrian, pole)
0.1 Sq m (Traffic cone, wire mesh)
Horizontal FOV
120 deg
160 deg
Vertical FOV
10 deg
30 deg 12
Enabling Innovation in ADAS – AWR1243 Ultra short / Short range (USRR/SRR)
Imaging / cascading radar
•
High performance, low power radar front end – AWR1243
•
15 MHz IF bandwidth for 200+m range and 300km/hr unambiguous max velocity
•
Built-in circuitry for seamless cascading of multiple AWR1243
•
Angular resolution as low as 0.6° in the azimuth and vertical direction
•
Urban driving, automated highway driving, full-range radar (FRR) Mid Range
250 m
170 m
Range Resolution
2m
40 cm
Max Velocity
300 kmph
300 kmph
Velocity Resolution
1 kmph
1 kmph
RCS
10-50 Sqm (Car, truck)
5-10 Sqm (Motorbike, car)
Horizontal FOV
30°
90°
Vertical FOV
10°
30°
1-4x AWR12
30°
Long Range
Max Range
90°
Parameter
150 m 250 m
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Sensor configuration with TI mmWave solutions IMAGING
AWR1243
AWR1243
AWR1243
CORNER/MRR
LRR
SRR
USRR
Proximity
AWR1243 AWR1243
AWR1243 AWR1243
Processor
Processor
AWR1642
AWR1642
AWR1443
Processor
Satellite Configuration
Processor
CANFD AWR1642
AWR1642
AWR1642
AWR1642
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Automotive mmWave Sensors AW R 1 2 4 3 3 4RX
3TX
AW R 1 4 4 3
Calibration, Monitoring Engine
CSI2
Synth
SPI
4RX
Radar Sensor • Use Cases – Imaging Radar Sensor • 2x AWR12 (cascade) + External DSP • 4x AWR12 (cascade) + External DSP
Calibration, Monitoring Engine
3TX
Synth
AW R 1 6 4 2
R4F
4RX
Radar Acc
CAN
576KB
SPI
Radar Sensor + HW Accelerator
• Use Cases – Entry-level Single-chip Radar • Proximity warning, Blind spot
2TX
Calibration, Monitoring Engine
R4F
CAN FD
C674x
CAN
Synth
1.5MB
SPI
Crypto
HIL
Radar Sensor + DSP • Use Cases – USRR Single Chip Radar • 160 Degree, 40m
– SRR Single chip Radar • 120m Cross traffic Alert
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AWR1x Software Deployment
TI code TI Partner code
Customer code ISO 26262 enabled code
ECU CAN,CANFD
Application
mmWave Studio(PC)
Application
TDA3x Radar SDK mmWaveSDK
CSI2, SPI, I2C, FPD TI RTOS
Device Firmware Package (DFP) AWR1x Raw Data Capture
Device Firmware Package (DFP) Master or Slave AWR1243 + Processor
Custom RTOS
AUTOSAR RTE MCAL
Device Firmware Package (DFP)
AWR1443 / AWR1642 Development 16
AWR1243
AWR1443
AWR1642
AWR Design Kit Silicon
EVM • TI(Ecosystem partner) built reference HW RF tool • Signal Path analysis, Radiative measurements HDK • Reference Schematic/Layout, BOM, RF Model, Thermal Model SDK • Firmware, Device drivers, Operating system, Development environment
Sample: √
Sample: √
Sample: √
RTM: Q1 2018
RTM: Q1 2018
RTM: Q4 2017
√
√
√
√
√
√
√
√
√
√
√
√
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AWR Hardware Platforms AWR1443/AWR1642 EVM
AWR1243 + TSW1400
85 x 65mm
• Enables evaluation of single chip radar
• Enables RF performance evaluation
• Proximity sensor demo on AWR1443 EVM
• Raw ADC capture into PC and then post process
• SRR demo on AWR1642 EVM
• mmWave Studio to visualize object range/velocity/angle
AWR1243 + TDA3x
AWR1443/AWR1642 Sensor module
51 x 32mm
34 x 38mm
• Enables radar algorithm and MRR/LRR application development on TDA3x • Enables vehicle validation/demonstration
• Enables radar algorithm and proximity/SRR application development on AWR1443/ AWR1642
• Enables vehicle validation/demonstration
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Delivering the most precise sensors in CMOS Enabling Level 2 and above Small footprint Single-chip, integrated analog and digital, Automotive-friendly package
Highly configurable
Versatile intelligence Self monitoring & calibration, Complex/IQ architecture Interference detection
Ultra high resolution Wide RF BW, 0.01% Chirp linearity
Flexible sensing for longrange, mid and short-range applications, including multimode
Scalability
Low power Scalable power consumption to meet demanding applications such as 4-20mA sensors
Scalable digital performance, high-resolution analog cascading
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Industrial Transport / Robotics – Obstacle Detection Warehouse Use Case Typical Range
~5m
Typical Velocity
< 5 m/sec Typical Device Performance
Range accuracy
2 cm
Range resolution
10 cm (@2 GHz chirp BW)
Velocity accuracy
1 cm/sec
Velocity resolution
5 cm/sec
Angle accuracy
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Interference Rejection : The 2025 Parking lot
Warehouse Floor
Pickup Robot
Pickup Robot
• FMCW inherently robust to interference • Chirp based timing randomization • Binary phase modulation 21
mmWave in Building Automation
Motion Detectors
People Counting
Automated Doors & Gates
IP Network Camera
GOAL: Robust, small form-factor detection and sensing of people near buildings, cameras, and doors
Advantages
Challenges
•
Robust to false detection/movements with integrated processing
•
•
Radar information can give position and velocity – easy background subtraction, movement classification
Angular resolution of radar is poor, complex scenes require algorithms to decipher
•
Power consumption for wireless, battery-powered sensors
•
Robust to environment – lighting, temperature, moisture
•
•
No camera or lens for privacy-conscience applications
Cost pressure versus incumbent technologies such as 24GHz, ultrasonic, and PIR
•
Sparse data set requires lower processing requirements 22
TI mmWave in Traffic Monitoring TIDEP-0090 • RFCMOS - Fully-Integrated design • All mmWave sensing, radar processing and advanced algorithms can be performed on single chip
• High Performance • mmWave radar can precisely determine object location and speed • Can minimize or eliminate need for expensive video analytics for object localization, speed estimation, and classification • Detection/measurement of objects at 100m+, velocities <200km/hr, across multiple lanes
• Insensitive to Environment • Insensitivity to challenging environments such as fog, smoke, and changing lighting conditions.
• Flexibility of Solution • TI mmWave supports multiple data output types to allow for greater flexibility and optimization in your system design 23
Value of TI mmWave in Drones Drone Sense and Avoid Overview • Obstacle Detection and Avoidance (Power lines, buildings, trees etc) • Autopilot Features : Positioning, Hovering, Object Tracking • Landing Assist (Altitude measurement, Ground / water landing classification)
Technologies used today
Power Line Detection
• Vision, Ultrasound, IR, LIDAR • Limitations with current techniques : Low Range, Sensitivity to environmental conditions, Poor low/bright light performance, Low frame rates (except LIDAR)
What makes mmWave sensing interesting • Highly accurate, Long Range (80 m+), High frame rates • Insensitive to environmental conditions such as dust, fog, low light or dazzling sunlight
• Supplement existing sensors with Radar for added Safety/Redundancy • Radar/Vision Fusion - make all sensors smarter Autonomous Landing 24
Capability demonstration – Vital Stats Measurement Experimental Setup Lens
Radar
Lens used to increase the SNR Subject seated between 1-3 meters away from the Radar Subject asked to stay very still and have his/her back rested on the back of the chair Time
1- 12 mm
0.1 – 0.3 Hz
0.2 – 0.5 mm
0.8 – 2 Hz
Remaining challenges: Separating breathing rate harmonics from heart beat Cancellation of body/limb movements
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30 1 10 1000 -1 -1 -2 50 -2 -3
Displacement
Heart Rate
Frequency
Range Displacement (mm) Displacement (mm) (mm)
Breathing Rate
Chest displacement
-3 0 0
100 20 20 40 50 60 40 60 80 80 100 0 0 100
Range Bins corresponding to the subject 50
100
150
200
250
300
350
400
450
500
Unwrapped Phase
5 5
Breathing 10 15 10 15 200
20 20 400
Holding Breath 25 30 35 25 Time30(sec) 35 600 Time (sec)
Breathing 40 45 40 45 800
Holding Breath 50 55 50 55 1000 Breathing1200 Rate
minute
Vital Signs (Adults)
20
per Beats minute perper Beats minute Beats
Typical vital sign parameters
0.4
Heart Rate
Spectrogram 100 100
5
200 10 200
30015 300
20 400 400 Mean Mean
25 500 500
30 600 600
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Example Video – Parking Lot
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Industrial mmWave Sensors IWR1443 4RX
3TX*
SPI
IWR1642
Calibration, Monitoring Engine
R4F
Synth
576KB
CSI2 LVDS
4RX
FFT 2TX
CAN
SPI
mmWave Sensor + HW Accelerator • Use Case – Entry-level Single-chip Sensor • Power-optimized applications • HW acceleration for limited processing
Calibration, Monitoring Engine
C674x
Synth
1.5MB
LVDS
R4F
CAN
mmWave Sensor + DSP • Use Cases – Full functionality single-chip radar • Increased on-board memory for higher range and resolution measurement • On-chip DSP for advanced algorithms
* 2x TX simultaneously 27
IWR1xxx mmWave Signal Processing RF Front-End
ADC Data
ADC
IWR1443 Point Cloud
PreProcessing (Interference Mitigation)
1st
Dim FFT (Range)
2nd
Dim FFT (Velocity)
3rd
Dim FFT (Angle Arrival)
[Range, Velocity, Angle]
Detection
IWR1642 Clustering
Tracking
Object Classification
Objects
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IWR Standard Offering Silicon • Single-chip mmWave sensors
Samples: ✓ RTM: 1Q18
Samples: ✓ RTM: 2Q18
2Q17
✓
Modules • mmWave Sensors with integrated PCB antenna
EVM • OOBE demo, reference schematics/layout, BOM
Hardware Collateral • Datasheets, user guides, app notes, RF/thermal models
Software Development Kit • mmWaveSDK, software collateral, visualization tools, flashing tools
✓
✓
✓
✓
✓
✓
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IWR1x Evaluation Modules • Platform for out of the box evaluation and rapid prototyping • Includes reference schematics, layout, and BOM • Interfaces: – USB for debugging and emulation – High-speed interface for raw ADC capture – BoosterPack headers
• DevPack board for additional expansion
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Modules for simplified production TX/RX
ADC & Digital
Discrete Multi-board mmWave Radar
TI Single-Chip mmWave Sensor Module
3rd Party Modules • Full system-on-module (SOM) with mmWave SoC, Antenna, PMIC, Flash and other support ICs • Samples and production quantities from 3P 31
mmWave Software Simplified evaluation and development mmWave SDK
mmWave Examples
mmWave Studio
Includes: • TI RTOS • Drivers • SPI • CAN/CANFD • LVDS / CSI-2 • EDMA • UART • I2C • GPIO • Timers • FFT HW • Signal Processing Library • On DSP • On HW Accelerator • MCU-DSP communication • mmWaveAPI • mmWaveLink • SecDev (delivered separately)
•
TI Designs: • Proximity Sensor • Short-Range Radar • Power-Optimized Field Transmitter • Traffic Monitoring • Drone Sense and Avoid • People Counting
•
Examples: • mmWaveStudio (OOB) • MSP4XX • AMXX • TDA/DM5 • C2000 Labs: • Water Vs Ground Lab • Vital Sign Lab
Includes: • Visualizer – visualize output (point-cloud and proximity grid) from the sensor on the PC • Sensing Estimator – define chirp configuration through abstracted parameters like max range, minimum range, etc • Capture – capture raw RF data from the capture HW onto the PC
•
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Measurement
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Joint-Test between Rohde & Schwarz and Texas Instruments through FSW Signal Analyzer
Thank You & Questions
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