EP3794366A1 - Système de détecteur radar et procédé de fabrication d'un système de détecteur radar - Google Patents

Système de détecteur radar et procédé de fabrication d'un système de détecteur radar

Info

Publication number
EP3794366A1
EP3794366A1 EP19709708.2A EP19709708A EP3794366A1 EP 3794366 A1 EP3794366 A1 EP 3794366A1 EP 19709708 A EP19709708 A EP 19709708A EP 3794366 A1 EP3794366 A1 EP 3794366A1
Authority
EP
European Patent Office
Prior art keywords
bin
sensor system
radar sensor
components
offset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19709708.2A
Other languages
German (de)
English (en)
Inventor
Michael Schoor
Marcel Mayer
Klaus Baur
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3794366A1 publication Critical patent/EP3794366A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4017—Means for monitoring or calibrating of parts of a radar system of HF systems

Definitions

  • the invention relates to a radar sensor system.
  • the invention further relates to a method for producing a radar sensor system.
  • the invention further relates to a computer program product.
  • the object is achieved with a radar sensor system, comprising: at least two RF components each having at least one antenna for transmitting and / or receiving radar waves and at least one antenna controller for operating the at least one antenna; and
  • a length of the synchronization line is such that in a baseband a detected target is representable as a bin pair, the bins of the bin pair being offset from one another by a defined amount.
  • the bin offset can be used to separate signals from different transmitters from each other.
  • an angular resolution or evaluation is thereby improved and costs can be saved by saving expenses for code and frequency multiplexing devices.
  • the object is achieved with a method for producing a radar sensor system, comprising the steps:
  • a synchronization line by means of which the RF components are operatively connected, wherein a length of the synchronization line is formed such that in a baseband a detected target is representable as a bin pair, the bins of the bin pair being a defined extent - are offset.
  • the bin offset is less than one bin, preferably approximately 0.2 to 0.5 Bin is. This will be a good compromise
  • a further advantageous development of the radar sensor system provides that the synchronization line is designed as a real line. In this way, the desired effect of the distance-Bin- offset can be particularly easily realized.
  • a further advantageous development of the radar sensor system is characterized in that an effect of the synchronization line with respect to binary offset can be generated by means of a single-sideband modulator, wherein by means of the single-sideband modulator transmission signals of the RF components are displaceable relative to each other by a certain frequency.
  • a kind of "artificial conduction” is formed which, as a result, achieves the same effect as a real conduction.
  • a frequency offset is an equivalent of the real line.
  • a further advantageous development of the radar sensor system is characterized in that the RF components have a self-feeding device which is set up to form the bin offset in a definable manner. In this way, a further parameter is advantageously provided with which the desired bin offset of the distance bins can be defined even more finely.
  • a further advantageous development of the radar sensor system is characterized in that the transmitters which can be separated by the bin offset are used for the angle evaluation. This advantageously allows the bin offset to be used to separate the transmitters and thus estimate angles.
  • Fig. 1 is a schematic representation of a proposed
  • Fig. 2 is a schematic representation of another embodiment of the proposed radar sensor system
  • 3a, 3b are schematic representations of an operation of the
  • Fig. 4 is a schematic flow diagram of a proposed
  • the radar sensor system has a high degree of coherence.
  • the different RF components can be operated with the same operating frequency, thereby enabling a redundant and coherent clock supply of a plurality of RF components.
  • At least a portion of the RF components used in the radar sensor system can be supplied with a clock or a useful frequency.
  • all HF components or antenna controls of the radar sensor system can be supplied with the same clock from at least one clock and thus all data are charged to each other.
  • a simultaneous clock supply of all antenna controls or RF components By the clock supply from a source, a high coherence of all RF components of the radar sensor system can be realized. If a clock generator, for example, has a defect, then at least one further clock generator for generating an HF signal can be activated or connected via the control unit.
  • a clock generator for example, has a defect
  • at least one further clock generator for generating an HF signal can be activated or connected via the control unit.
  • one component is assigned the role of the master, which assumes the high-frequency generation, and the other HF components are supplied by the latter with the RF synchronization signal.
  • the RF synchronization signal is required to provide high coherency of the RF devices 10a... 10d to enable high angular resolution of the radar sensor system 100.
  • specialized components for the generation of high frequency and for further signal processing are used in the prior art.
  • the invention proposes that at least two transmitters of a radar sensor system can be operated simultaneously without increasing a required sampling rate of the A / D converters.
  • the idea is based on the fact that a target depending on the transmitter (possibly over RF components) in the baseband is mapped in a different distance bin.
  • a target object it is always desired that a target object be on the same bin in all MMIC baseband.
  • a bin offset in the detection of a target which is detected with different transmission signals of the RF components allows multiple transmitters to be operated simultaneously and signals to be separated from one another without an increase in the baseband frequency.
  • the radar sensor system 100 has four RF components 10a... 10d, which are designed as MMICs. In this case, the number four is merely exemplary, the proposed radar sensor system 100 may also have fewer or more than four RF components. It can also be seen a synchronization line 20, to which all RF components 10a ... 10d are functionally connected and that is used to synchronize eg an RF operating frequency of all RF components 10a ... 10d.
  • the radar sensor system 100 has antenna controls of the RF components 10a... 10d.
  • the antenna controllers mentioned and other components of the HF components 10a... 10d which are required for transmitting and receiving radar waves, such as antennas, amplifiers, oscillators, etc., are not shown.
  • FIG. 2 shows a partial area of the radar sensor system 100 of FIG. 1 or an independent radar sensor system 100 with two RF components 10a, 10b each having an antenna 11a, 11b and a synchronization line 20 having a defined physical length I, which dimensioned in this way is that for a detected target object it leads to a distance bin pair ("double peak"), the bins of the bin pair having a defined offset, eg from a bin.
  • the synchronization line 20 would have to have an electrical length of 30 cm.
  • the physical length I would only be 4.4 cm.
  • the desired bin offset is in a range of about 0.1 Bin to about 1 Bin, more preferably about 0.2 Bin, with several Bin be allowed as an offset.
  • a simplified illustrated, resulting baseband of the two RF components 10a, 10b is shown in Figures 3a and 3b.
  • A is the amplitude and b is the number of the range bin.
  • the RF device 10a transmits (case (i))
  • the signal applied to the mixers does not experience an additional time delay, whereby the peak value of the detected target receive signal is exactly on the expected bin 2 (or any other expected bin).
  • the synchronization line 20 of the HF component 10b effects an offset of the signal of the HF component 10b.
  • the transmit signal "sees” no offset, but the receive mixer (not shown) "sees” the RF signal at a later time (due to the length of the synchronization line 20), the target detected by the radar sensor system 100 appears closer to a bin, as it should be expected. In Fig. 3a, this would correspond to the range bin 1, or more generally formulated, to the expected bin distance minus 1. Thus, the bin distance offset is 1.
  • the baseband image changes as shown in Fig. 3b.
  • the baseband peak value of the RF component 10b is arranged at the expected bin 2.
  • the RF device 10a 10a remains the master in this case, so the signal delay caused by the synchronization line 20 causes the RF device 10a to lower the baseband peak at the expected bin plus 1, i. at Bin 3, as can be seen in Fig. 3b.
  • the distance bin offset is also 1 in this case.
  • MIMO multiple input multiple output
  • the example described above describes a bin offset in the form of an integer offset of exactly one bin. However, this need not necessarily be the case, it is conceivable, e.g. also that the bin offset is 0.2 bin from the desired bin. In this way, RF ramp signals having a different frequency deviation can be used for the transmission signals of the antennas 11a, 11b of the HF components 10a, 10b. Since the field separability of the radar sensor system 100 becomes worse the farther the bins of the bin pair are apart, it is desirable to form the bins of the bin pair at a distance of about 0.2 to about 0.5 bin.
  • An alternative way of generating a time delay from one transmitter to another transmitter in a frequency ramped radar sensor system is to use a single sideband modulator to thereby create an "artificial" synchronization line 20 which has an effect of producing an "artificial” synchronization line 20 Corresponds to the "real", physically present synchronization line 20.
  • the signal of one of the transmitters is shifted by a certain frequency, this frequency offset representing one equivalent to the effect of the defined length of the synchronization line 20.
  • This variant is the possibility of realizing this in an HF component while being able to operate two transmitters of an HF component in parallel.
  • the defined delay effect of the synchronization line 20 in a radar sensor system with a insectspeisungsflower be used, in which for at least one of the RF components, a self- or feedback network is realized.
  • the (“master capable”) capable of feeding the RF signal RF component 10a, 10d are connected in duplicate to the synchronization line 20, which means that a defined feedback of power to the feeding RF device 10a 10b. In this way, a master-capable RF component 10a, 10d is provided in the radar sensor system 100.
  • Radar sensor system can be used.
  • the proposed method can be used not only in a radar sensor system, but also in any product with multiple RF components.
  • the proposed radar sensor system is used in the automotive sector.
  • FIG. 4 shows a basic flow chart of a method for producing a radar sensor system 100.
  • a step 200 provision is made of at least two HF components 10a, 10b, each having at least one antenna 1a, 1b for transmitting and / or receiving radar waves and at least one antenna controller for operating the at least one antenna 1a, 1 1 b performed.
  • a synchronization line 20 by means of which the HF components 10a, 10b are functionally connected, wherein a length of the synchronization line 20 is formed such that in a baseband a detected target can be represented as a bin pair, wherein the bins of the bin pair are offset from each other by a defined amount.
  • the present invention proposes a radar sensor system having at least two transmitters, with which a line length of a synchronization line is designed such that an offset between distance bins is generated. This offset is sought and exploited in order to be able to functionally separate signals from the transmitters and thereby to achieve an improved operating characteristic of the radar sensor system (eg in the form of an improved angle evaluation).

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un système de détecteur radar (100), présentant : – au moins deux composants HF (10a, 10b) présentant à chaque fois au moins une antenne (11a, 11b) pour l'envoi et/ou la réception d'ondes de radar et à chaque fois au moins une commande d'antenne pour le fonctionnement de ladite au moins une antenne (11a, 11b) ; et - une ligne de synchronisation (20) au moyen de laquelle les composants HF (10a, 10b) sont reliés fonctionnellement ; – une longueur de la ligne de synchronisation (20) étant telle que, dans une bande de base, un but détecté peut être représenté comme une paire de fréquences porteuses, les fréquences porteuses de la paire de fréquences porteuses étant décalées les unes par rapport aux autres d'une dimension définie.
EP19709708.2A 2018-05-17 2019-03-07 Système de détecteur radar et procédé de fabrication d'un système de détecteur radar Withdrawn EP3794366A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018207716.9A DE102018207716A1 (de) 2018-05-17 2018-05-17 Radarsensorsystem und Verfahren zum Herstellen eines Radarsensorsystems
PCT/EP2019/055697 WO2019219261A1 (fr) 2018-05-17 2019-03-07 Système de détecteur radar et procédé de fabrication d'un système de détecteur radar

Publications (1)

Publication Number Publication Date
EP3794366A1 true EP3794366A1 (fr) 2021-03-24

Family

ID=65718017

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19709708.2A Withdrawn EP3794366A1 (fr) 2018-05-17 2019-03-07 Système de détecteur radar et procédé de fabrication d'un système de détecteur radar

Country Status (8)

Country Link
US (1) US20210063528A1 (fr)
EP (1) EP3794366A1 (fr)
JP (1) JP2021523380A (fr)
KR (1) KR20210010519A (fr)
CN (1) CN112136058B (fr)
DE (1) DE102018207716A1 (fr)
MX (1) MX2020012211A (fr)
WO (1) WO2019219261A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4345491A1 (fr) * 2022-09-30 2024-04-03 Aptiv Technologies Limited Capteur radar pour un véhicule et procédé d'intégration d'un capteur radar dans un véhicule
DE102023121555A1 (de) * 2023-08-11 2025-02-13 Sick Ag Radargerät

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2569857B1 (fr) * 1982-10-13 1988-05-13 Trt Telecom Radio Electr Simulateur de retard variable electriquement pour appareil de mesure de distance a onde continue modulee en frequence
JP3501659B2 (ja) * 1998-08-26 2004-03-02 三菱電機株式会社 車輌用シェルタ
JP4271511B2 (ja) * 2003-06-27 2009-06-03 株式会社マキタ レーダ装置と距離と反射率の測定方法
JP4080435B2 (ja) * 2004-02-17 2008-04-23 株式会社京三製作所 障害物検知装置及び検知方法
JP2006329689A (ja) * 2005-05-24 2006-12-07 Matsushita Electric Ind Co Ltd パルスレーダ装置
JP2007192575A (ja) * 2006-01-17 2007-08-02 Mitsubishi Electric Corp 目標測位装置
DE102006032540A1 (de) * 2006-07-13 2008-01-17 Robert Bosch Gmbh Winkelauflösender Radarsensor
DE102009026767A1 (de) * 2009-06-05 2010-12-09 Robert Bosch Gmbh Radarsensor mit Störsignalkompensation
WO2013128820A1 (fr) * 2012-02-29 2013-09-06 パナソニック株式会社 Dispositif de détection d'objets intrus et procédé de détection d'objets intrus
DE102013008953B4 (de) * 2013-05-27 2017-01-05 Volkswagen Aktiengesellschaft Verfahren zum Betreiben einer Radareinrichtung eines Fahrzeugs, insbesondere eines Kraftwagens, sowie Radareinrichtung für ein Fahrzeug, insbesondere einen Kraftwagen
EP3301470A3 (fr) * 2016-09-29 2018-06-20 Panasonic Corporation Système multi-radar
JP2018059895A (ja) * 2016-09-29 2018-04-12 パナソニック株式会社 マルチレーダシステム
DE102017215561A1 (de) * 2017-09-05 2019-03-07 Robert Bosch Gmbh FMCW-Radarsensor mit synchronisierten Hochfrequenzbausteinen

Also Published As

Publication number Publication date
JP2021523380A (ja) 2021-09-02
KR20210010519A (ko) 2021-01-27
MX2020012211A (es) 2021-01-29
DE102018207716A1 (de) 2019-11-21
CN112136058A (zh) 2020-12-25
CN112136058B (zh) 2024-06-07
WO2019219261A1 (fr) 2019-11-21
US20210063528A1 (en) 2021-03-04

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