Graph Neural Network Based 77 GHz MIMO Radar Array Processor for Autonomous Robotics

摘要

Frequency-modulated continuous-wave (FMCW) multiple-input multiple-output (MIMO) long-range radars currently employed for autonomous robotics have limited maximum range. By employing transmit beamforming and beam scanning, the range can be increased. However, the beam scanning time reduces the achievable velocity resolution. In this paper, we propose an FMCW MIMO radar, operating at 77 GHz, with transmit (TX) beamforming with subarrays to increase the range. We employ four TX subarrays, each having three antennas, with analog beamforming. Compared to TX beamforming as one TX array, our approach provides sufficiently wide beams alleviating beam scanning, further, without substantially reducing the virtual elements of the MIMO radar. We implement the radar signal processing pipeline on a ZYNQ Ultrascale+ ZCU106 FPGA to achieve real-time processing. Furthermore, we employ a graph neural network to detect objects using the radar point cloud. Preliminary results are presented to confirm the operation of the proposed FMCW MIMO radar.