US Patent 10197671 Virtual radar configuration for 2D array

A radar sensing system for a vehicle includes a plurality of transmitters, a plurality of receivers, and a plurality of receive and transmit antennas. The plurality of transmitters are configured for installation and use on a vehicle, and operable to transmit radio signals. The plurality of receivers are configured for installation and use on the vehicle, and operable to receive radio signals which include transmitted radio signals reflected from objects in the environment. The plurality of receive antennas and the plurality of transmit antennas are arranged in a selected configuration to provide a quantity of receive antennas and transmit antennas for a desired level of two-dimensional angle capability for a given board size.