CN101052892A - 用于具有fmcw雷达传感器的机动车的、用于以角分辨方式借助于三角测量来确定目标的距离的传感器系统 - Google Patents
用于具有fmcw雷达传感器的机动车的、用于以角分辨方式借助于三角测量来确定目标的距离的传感器系统 Download PDFInfo
- Publication number
- CN101052892A CN101052892A CNA2005800376432A CN200580037643A CN101052892A CN 101052892 A CN101052892 A CN 101052892A CN A2005800376432 A CNA2005800376432 A CN A2005800376432A CN 200580037643 A CN200580037643 A CN 200580037643A CN 101052892 A CN101052892 A CN 101052892A
- Authority
- CN
- China
- Prior art keywords
- signal
- oscillator
- sensor assembly
- phase
- frequency
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims description 34
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims description 16
- 238000000429 assembly Methods 0.000 claims description 16
- 238000001914 filtration Methods 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 5
- 238000013508 migration Methods 0.000 claims description 5
- 230000005012 migration Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 8
- 230000010355 oscillation Effects 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S13/48—Indirect determination of position data using multiple beams at emission or reception
-
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0232—Avoidance by frequency multiplex
-
- 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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0235—Avoidance by time multiplex
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
本发明涉及一种装置,它具有多个传感器模块(2,21,22,23,2n),它们以距离(d1,d2)布置,其中传感器模块(2,21,22,23,2n)具有一个本地振荡器装置。该振荡器装置产生一个振荡器信号,该振荡器信号被传送给一个发射/接收装置,及振荡器信号被反射。发射/接收装置被这样地设置,以致它可接收由目标反射的信号。相位检测装置用一个输入端与振荡器装置相耦合及用第二输入端与发射/接收装置相耦合。相位检测装置基于振荡器信号及接收的反射信号来确定一个相位信号。一个控制装置及信号处理装置基于传感器模块彼此的距离及相位信号来确定目标相对传感器模块的方向(a1,a2,a3,an)。
Description
技术领域
本发明涉及一种用于以角分辨方式来确定目标的距离及速度的装置及用于以角分辨方式来确定目标的距离及速度的方法及根据本发明的装置的应用。
尽管本发明参考机动车中的雷达系统进行描述,但本发明并不被限制在该雷达系统上。
提高机动车的可靠性及舒适性是汽车工业中的首要目标。提高机动车的安全性的一个可能性在于自动地识别道路交通中的障碍物。为此需要确定机动车到可能的障碍物的距离,并要确定障碍物所处的方向。在此,主要必需确定相对障碍物的方向以便区分位于行驶车道还是行驶车道边缘的障碍物。
提高机动车舒适性的一个可能性在于,在密集的交通中确定出在前行驶的机动车的速度及使自己的机动车速度自动地适配。为此必需可确定出与在前行驶的机动车的距离,该机动车的速度及该机动车是在与自己的机动车同一行驶车道上还是偏离自己的机动车在一个第二行驶车道上。这些是雷达系统在机动车领域中的二种可能的应用。另一应用主要在于泊车辅助。所有这些方法需要一个装置,该装置能够确定目标相对机动车的距离及方向。
在传统的方法中提供一个用于微波的初级源,其发射波借助一个适合的光学系统集束成一个半值宽度为3-4°的射束及然后借助一个偏转光学系统从其中形成3-4个射束,这些射束一起覆盖了一个相对窄的、8-16°的角度范围。对于这些射束中的每个分开地由一个检测装置检测由一个目标反射出的分量。通过各个射束的反射分量的幅值比较能够确定出目标所在的方向。其可达到的角分辨率及覆盖的角度范围不利地由机械结构确定及由此限制了传感器的应用范围。
另一方法在于由反射射束的相位来确定目标相对传感器装置的几何布置。传感器装置则在于,由一个适合的发射装置照射整个所需的观察区域及由多个接收装置检测由目标反射的信号。接收装置确定出各个反射信号的相位及一个信号处理装置基于这些相位信号计算出各个反射信号走过的不同路程长度及由此计算出目标相对机动车的几何布置。该装置的缺点在于,发射装置需要高的输出功率,因为对于所有接收装置必需提供用于接收混频器的一部分发射信号及基于所使用的在76-81,122-123或126-150GHz(或更高)范围中的频率在所需分频网络中的强阻尼而产生高的损耗。
另一传感器装置在于,仅使用一个接收装置及它在时间上顺序地与多个天线装置相连接。该装置的缺点是,由于复用方法,在用所有天线装置测量时的持续时间过长,以致该装置不能使用于道路交通的动态情况。
另一传感装置在于,接收装置与发射装置相组合及该接收装置在时间上相继地与多个天线装置相连接。该装置也具有测量时间过长的缺点。
本发明的任务在于,提出一种装置及方法,它可实现短的测量持续时间及具有小的功率损耗并且在无高频区域(77/122/140GHz)的发送及接收装置的情况下也足够敷用。
本发明的优点
根据本发明的任务将通过具有权利要求1的特征的以角分辨方式来确定距离的装置及通过具有权利要求15的特征的在使用根据本发明的装置的情况下以角分辨方式来确定的方法。
作为本发明基础的构思在于,多个传感器模块相互有距离地布置,其中每个传感器模块具有一个本地振荡器装置。该振荡器装置产生一个振荡器信号,该振荡器信号被继续传送给一个发射/接收装置,及振荡器信号被反射。发射/接收装置被这样地设置,以致它可接收由目标反射的信号。相位检测装置用一个输入端与振荡器装置相耦合及用第二输入端与发射/接收装置相耦合。相位检测装置基于振荡器信号及接收的反射信号来确定一个相位信号。一个控制装置及信号处理装置基于传感器模块彼此的距离及相位信号来确定目标相对传感器模块的方向。
本发明与公知的解决方案相比具有其优点,即,每个传感器模块具有一个自己的本地振荡器装置。因此不需要用于将微波信号由中心振荡器装置分频到各个传感器模块的分频装置及由此使装置的损耗保持很小。
根据本发明的、使用本发明的装置来以角分辨方式确定目标距离的方法在于:传感器模块的至少一个发射/接收模块发射振荡器信号。借助发射/接收装置从目标的一个方向接收由目标反射的信号。基于接收的反射信号及振荡器信号确定一个相位信号,该相位信号将是借助一个控制及信号处理装置来确定目标相对传感器模块的方向的基础。
在从属权利要求中可得到权利要求1中给出的装置及权利要求15中给出的方法的有利的进一步构型及改进。
根据一个优选的进一步构型,传感器模块的距离彼此是等距离的或在另一优选的进一步构型中,该距离具有不同的大小。等距离的间距具有的优点是可达到高的信噪比。相反地,具有不同大小距离的装置的优点是,对于方向确定的多值性的数量可被减小。
根据另一优选的进一步构型,在传感器模块的发射方向上设有一个由一个透镜和/或一个介质聚苯乙烯棒组成的准直装置。该准直装置能使向着所需方向发射的振荡器信号或来自所需方向的接收的反射信号的信号增强。
根据另一进一步构型,在传感器模块的发射方向上设有一个准光学滤波器,由此可达到方向确定中多值性的抑制。
根据一个优选的进一步构型,至少一个相位检测装置设有一个可控制的、具有可调节的滤波特性的滤波装置。另一优选的进一步构型在于,至少一个传感器模块设有一个可控制的、具有可调节的振荡器频率的振荡器装置。一个特别优选的进一步构型在于,控制及处理装置与至少一个传感器模块相连接,以便用控制信号来调节滤波装置和/或传感器模块的振荡器频率。这能使各个传感器模块的振荡器频率调节到分开的频率上及通过滤波特性仅确定这样的相位信号,这些相位信号所属的反射信号是由一个确定的传感器模块发射的。这里特别重要的是,各个传感器模块发射不同的频率及仅考虑相位信号中具有与相应的传感器模块的振荡器信号相同频率的反射信号。以此方式可实现所述频率范围中的复用方法。
根据另一进一步构型,相位检测装置设有一个混频器,用于分离出接收的反射信号。
根据另一进一步构型,相位检测装置被这样地设置,以便可借助对接收的反射信号的直接采样来确定相位信号。
根据另一进一步构型,至少两个振荡器装置彼此不同步。
根据另一进一步构型,设有一个同步装置,借助它可使至少两个振荡器装置同步。此外,振荡器装置可具有一个锁相环路。这允许振荡器装置借助一个低频信号彼此同步。
根据另一进一步构型,传感器模块沿一个线或面地布置。
根据另一进一步构型,两个传感器模块的振荡器信号借助控制及信号处理装置被这样地调节,以致它们具有不同的振荡器频率。
根据另一进一步构型,控制及信号处理装置根据相对时间的频率斜坡来改变振荡器模块的振荡器频率。
根据另一进一步构型,振荡器模块的振荡器频率根据同一频率斜坡在一个时间偏移后被改变,其中该时间偏移对于各个传感器模块是不同的。以此方式,传感器模块的各个振荡器频率在每个时刻都不同。同时可通过频率斜坡来实现用于确定目标相对传感器的距离的FMCW方法(频率调制连续波方法)。
根据另一进一步构型,至少一个传感器模块的相位检测装置的滤波装置的滤波特性被这样地调节,以致相位检测装置仅确定基于由该传感器模块发射的信号的相位信号。这允许传感器模块以高的角分辨率并列地工作。
根据一个优选的进一步构型,相位检测装置仅检测基于由一个第二传感器模块发射的信号的相位信号。在此情况下虽然可得到比上述构型小的角分辨率,但为此在不同方向上的多值性上出现的问题小。
附图说明
本发明的实施例及有利的进一步构型被表示在附图中及在以下的说明中详细加以描述。
附图中表示:
图1:本发明一个实施形式的示意性视图;
图2:本发明一个实施形式的示意性侧视图;
图3:该实施例第二正交方向上的第二示意性侧视图;
图4a-d:传感器模块的四个实施形式的概图;
图5:一个实施形式的布线的概图;
图6:两个振荡器装置同步的概图;
图7:一个频率曲线的概图;及
图8:本发明的一个实施形式的频率曲线的概图。
具体实施方式
在附图中相同的参考标号表示相同或功能相同的部分,只要不产生矛盾的话。
图1以侧视图示出本发明一个实施形式的示意性视图。在一个载体1上设有多个传感器模块21,22,23,2n。该载体1例如可安装在一个机动车前侧的一个表面上。在所示的实施形式中,这些传感器模块21,22,23,2n沿空间方向x以距离d1,d2布置。所述距离d1,d2可在1mm至4cm的范围中。
在一个与方向x正交的空间方向y上,例如在机动车的行驶方向上具有一个目标k,它相对传感器模块21,22,23,2n具有目标距离D。传感器模块21,22,23,2n与目标K之间的路程S1,S2,S3,Sn通常具有不同的长度。路程S1,S2,S3,Sn相对y方向具有一个角度a1,a2,a3,an,这些角度也是不同的。由几何上的考虑可得到,由路程S1,S2,S3,Sn的长度及距离d1,d2可单义地确定出角度a1,a2,a3,an。以下也将角度a1,a2,a3,an称为目标K相对传感器模块21,22,23,2n的方向。
在所述的实施形式中,每个传感器模块21,22,23,2n发出一个具有一个振荡器频率的振荡器信号。这些振荡器信号又被目标K部分地反射回传感器模块21,22,23,2n。传感器模块21,22,23,2n被这样构造,以致它们可确定出反射信号相对振荡器信号的相位差。在此,每个传感器模块21,22,23,2n仅考虑分别由这些传感器模块21,22,23,2n之一发射的振荡器信号引起的反射信号。由传感器模块21,22,23,2n确定出的相位差取决于传感器模块21,22,23,2n与目标K之间的路程S1,S2,S3,Sn的长度。这些相位差作为相位信号被输送给一个信号处理装置,该信号处理装置基于相位信号的微分可确定出路程S1,S2,S3,Sn的长度差别及角度a1,a2,a3,an。不同传感器模块21,22,23,2n的各个振荡器信号的彼此的相对相位信息不是必需的,而仅必须由相应的传感器模块来确定相应振荡器信号相对反射信号的相位差。这些角度可借助付里叶变换和/或自适应方法如所谓的“最小方差波束形成算法”来确定。相应的方法可用于雷达及声呐系统。
在确定目标K及目标K的方向a1,a2,a3,an时得到主要与距离d1,d2相关的多值性。在传感器模块21,22,23,2n以振荡器信号的一个波长的距离d1,d2等距离布置的情况下,对于一个角度a1,a2,a3,an及对于一些约30°或小于角度a1,a2,a3,an的角度得到一个多值性。随着传感器模块21,22,23,2n的距离d1,d2的增大,得到多值性的角度范围将减小及与此相应地在观察的角度范围内得到更多的多值性。距离d1,d2在/2至5的范围中,其中表示振荡器信号的波长。
当传感器模块21,22,23,2n以不同大小的距离布置时,多值性下降。但在该布置情况下得到具有相同距离及速度而仅是角度不同的目标的反射信号的很强重叠。由此小的目标可能被大的目标掩盖。
各个传感器模块21,22,23,2n的振荡器频率可以不同。在一个实施形式中,它们至少对于每个时刻可不同地被选择。以此方式可使反射信号对应到各个传感器模块21,22,23,2n。变换地,也可使用一个时分复用方法,其中这些传感器模块21,22,23,2n彼此在时间上错开地发射一个振荡器信号及接收反射信号。也可考虑这两个复用方法的组合,以便一方面利用借助频率复用方法来并列发射及接收的优点及另一方面仅需要有限数目的发射频率。
本发明的另一实施形式在于,并非所有的传感器模块21,22,23,2n均发射一个振荡器信号。例如仅是传感器模块21发射一个振荡器信号,而该振荡器信号的反射分量由传感器模块21,22,23,2n接收。传感器模块22接收的反射信号与传感器模块22的振荡器信号的相位差被这样地确定,使得传感器模块22的振荡器信号与传感器模块21的振荡器信号同步。被这样确定的相位差由传感器模块21,22,23,2n作为相位信号传送给一个信号处理装置及该信号处理装置基于相位信号的区别来确定出路程S1,S2,S3,Sn的长度及角度a1,a2,a3,an。单个发射器的优点在于,既不需要频率复用方法也不需要时分复用方法。在两个或多个发射的传感器模块21,22,23,2n的情况下将使用相应的复用方法。
在上述实施形式中这样地构造传感器模块21,22,23,2n,使得它们不是全发射一个振荡器信号。仅达到单一准有效的第二可能性是:传感器模块21的振荡器频率被设定在第一振荡器频率上及其它传感器模块21,22,23,2n的振荡器频率被设定在另一个或另外多个振荡器频率上。在传感器模块21,22,23,2n中设置一个滤波装置,该滤波装置仅可让具有传感器模块21的第一振荡器频率的相位信号通过。以此方式抑制了基于第二传感器模块21,22,23,2n的振荡器信号的相位信号。
图2示出本发明一个实施形式的示意性侧视图。在一个可安装在一个机动车上的载体1上设置了多个以距离d1,d2隔开的传感器模块21,22,23,2n。有选择地,可在传感器模块21,22,23,2n的上方设置介质聚苯乙烯棒(Polyrod)3。这些介质聚苯乙烯棒3为锥形的介质棒,它们可作为准直装置使用。通过具有长度为3λ的聚苯乙烯棒3可使传感器模块的发射及接收角度限制在约±20°上。有利的是,这样可使角度确定的多值性减小,如果多值性在大于±20°时才出现的话。为此对信号处理装置提供相应的计算程序,该计算程序仅考虑在发射及接收角度以内的角度。通过光学透镜5-例如一个圆柱形的透镜-可提高所需角度范围中的信号强度及由此可以改善信噪比。多值性的另一抑制可通过一种所谓的准光学滤波器6来达到。该准光学滤波器6由多个介质层组成,它们在y方向上彼此叠置。该准光学滤波器6具有一个透射特性,该透射特性与信号频率及相对该光学滤波器的信号入射角相关。该透射特性可被用于使来自一个方向的具有一个振荡频率的信号透射及抑制来自另一方向的信号。有关滤波特性的信息被输入信号处理装置以抑制多值性。
图3中示出上述实施形式在第二空间方向上的一个侧视图。传感器模块21,22,23,2n的布置可形成一列或多列。传感器模块21,22,23,2n可为单个的集成构件或共同地在载体1上集成地制造。
在图4a-d中表示出一个传感器模块2的四个实施形式。图4a及4b各表示一个外差式检测,而图4c及4d各表示一个零拍检测。在图4a中表示出一个本地振荡器21a,它与一个发射装置20相连接。本地振荡器21a产生出具有在76-81GHz,122-123GHz(见上面)或126-145GHz范围中的一个频率的振荡器信号。本地振荡器21可被这样地构造,使得其振荡频率是可调节的。此外,该本地振荡器21a可具有一个锁相环路,它可使振荡器信号与一个低频的输入信号同步。该振荡器装置通过一个路径与一个发射/接收装置20相连接。该发射/接收装置20具有一个天线装置。该发射/接收装置可被自由转换及然后通过天线装置发射振荡器信号110。通过该发射/接收装置可接收一个反射信号111。振荡器信号110及反射信号111通过一个本地振荡器21a上的耦合装置23a及一个设置在发射/接收装置附近的耦合装置23b输入到一个相位检测装置30。在图4a中,相位检测装置30具有一个第二本地振荡器21b,它的振荡器信号与本地振荡器21a的振荡器信号110及与反射信号111借助两个混频器25a及25b混频。这两个以此方式混频的信号被输送给一个第三混频器24,及由此使反射信号111与振荡器信号分离。混频器24可为一个平衡混频器。被分离的信号112包括一个相位信号100,该相位信号与振荡器信号110及反射信号的相位差相关。在混频器24后面连接着一个滤波装置27,以便滤除被分离信号112的高频分量。滤波装置27可具有一个可调节的滤波特性。滤波器27的滤波特性可被这样地设定,使得仅是相位信号100中的反射信号111被考虑,该反射信号具有与振荡器信号几乎相同的频率。因此在频率复用方法中,传感器模块2仅确定与由它发射的振荡器信号110相应的相位信号100。为了考虑相位信号100中的反射信号111-它由于多普勒频移而具有相对振荡器信号110改变的频率,滤波器27的滤波特性可具有一个相应地宽的滤波频带。在另一方法中这样地设定滤波特性,即仅考虑相位信号中的反射信号111,该反射信号具有与一个初级的或中心的传感器模块21的振荡器信号相同的频率。
在图4b中耦合装置23b由一个循环装置26来代替。
图4c及4d表示零拍检测装置。在这两个例子中,相位检测装置30仅仍具有一个混频装置24。通过两个耦合装置23a及23b对混频装置24输入振荡器信号110及反射信号111的分量。通过混频装置24分离的信号112如前所述地被输送给一个滤波装置27,以便确定相位信号100。在图4d中耦合装置23b由一个循环装置26来代替。
图5中表示本发明的一个实施形式的信号导向的示意图。传感器模块21,22,23,2n各输出其相位信号1001,1002,1003,100n。相位信号1001,1002,1003,100n相应地在所述频率复用方法中并列地或在时分复用方法相继地被确定及输出。相位信号1001,1002,1003,100n各被输送到一个变换装置8中。变换装置8具有一个模数转换器。数字化的相位信号1001,1002,1003,100n被输送给信号处理及控制装置10。该信号处理及控制装置10将基于数学化的相位信号1001,1002,1003,100n确定出路程S1,S2,S3,Sn的长度及角度a1,a2,a3,an。此外,该信号处理及控制装置通过控制信号1021,1022,1023,102n来改变各个传感器模块21,22,23,2n的振荡器频率及传感器模块的滤波特性。此外可设置这样的控制信号,这些控制信号使发射/接收模块20自由转换,因此使发射/接收装置20发射振荡器信号110。
图6中示出两个振荡器装置同步的示意图。第一传感器模块21的振荡器装置21与第一锁相环路291相连接。类似地,振荡器装置212与第二锁相环路292相连接。锁相环路291及292与一个低频振荡器装置50相连接。该低频振荡器装置产生一个振荡器信号,该振荡器信号以小的损耗被分频。借助两个锁相环路291及292可实现两个振荡器装置211及212的振荡器信号与低频振荡器装置50相位固定的连接。相对通过中心振荡器装置的振荡器频率为w的高频振荡器信号的分频的优点在于其损耗小。
在所述的实施例中应指出,在多个自由转换了的发射/接收装置2的情况下,使用了传感器模块21,22,23,2n的去耦合及这可用一种频率复用方法来实现。频率复用方法的优点是,这些发射/接收装置2可同时地工作。但在相同的信号路程S1,S2,S3,Sn时两个振荡器信号110的振荡器频率之间频率不同的情况下将得到不同的相位差。信号处理装置可错误地将其判断成信号路程S1,S2,S3,Sn之间的角度。因为相位差正比于振荡器频率与信号路程S1,S2,S3,Sn的长度的乘积,故随着振荡器频率的增大及目标K的距离的增大,角度确定的误差也增大。当可以以较高的精度确定距离时,在已知振荡器频率的情况下可实现有误差地被确定的角度的校正。但为此所需的耗费很高。
图7中表示本发明的另一实施形式,它在于根据所示的频率相对时间t的曲线来改变振荡器频率w。在此,根据具有不同斜率的一个或多个频率斜坡201,202,203,204来改变频率。斜坡的持续时间为T。使用图7中所示的频率曲线的调制方法为频率调制连续波方法(FMCW)。这种频率调制方法基于其简单的可转换性适用于机动车中的使用。斜坡201,202,203,204的不同斜率使得在确定的相位差时信号路程S1,S2,S3,Sn的长度的值及由于一个运动的目标K引起的多普勒频移可被区分。
图8表示对于各个传感器模块21,22,23,2n的振荡器信号的振荡器频率的曲线。它们根据图7的频率曲线改变其振荡频率,但这些频率曲线被作成彼此具有一个小的时间偏移dt。因此在一个时刻上传感器模块2的所有频率是不同的及最小具有频率差dw。但为了相位信号的求值,将使用分别以在时间上延迟dt的方式而确定的相位信号。以此方式可避免在角度确定中由不同的振荡器频率w引起的误差。在角度确定中的误差是这样得到的:机动车和/或目标K在时间间隔dt内运动及由此在该时间间隔内相应地改变角度a1,a2,a3,an及信号路程S1,S2,S3,Sn。该时间差dt被选择得明显小于一个斜坡的持续时间T。此外,根据图7的频率曲线的调制速度这样地快,以致在一个周期内机动车仅稍稍地运动及由此角度确定中的误差保持很小。
Claims (20)
1.一种用于以角分辨方式来确定一个目标(K)的距离及速度的装置,具有多个传感器模块(2,21,22,23,2n),它们彼此有距离(d1,d2)地设置,
其中,一个传感器模块(2,21,22,23,2n)具有一个用于产生振荡器信号(110)的本地振荡器装置(21,21a),该振荡器信号被继续传送给一个发射/接收装置(20),其中,该发射/接收装置(20)可发射该振荡器信号(110)及其中该发射/接收装置(20)被这样构造,以致它可接收由目标(K)反射的信号(111),及具有一个相位检测装置(30),该相位检测装置用一个输入端耦合到振荡器装置(21,21a)上及用一个第二输入端耦合到发射/接收装置(20)上及基于该振荡器信号(110)及接收到的反射信号(111)来确定一个相位信号(100):
及其中传感器模块(2,21,22,23,2n)的相位检测装置(30)的一个输出端与一个控制/及信号处理装置(10)连接,该控制/及信号处理装置基于距离(d)及相位信号(100)来确定目标(K)相对传感器模块(2,21,22,23,2n)的方向(a1,a2,a3,an)。
2.根据权利要求1的装置,其中,这些距离(d1,d2)是等距离的。
3.根据权利要求1的装置,其中,这些距离(d1,d2)具有不同的大小。
4.根据以上权利要求中一项的装置,其中,至少在这些传感器模块(2,21,22,23,2n)之一的发射方向上设置一个由一个透镜(5)和/或一个介质聚苯乙烯棒(3)组成的准直装置(3,5)。
5.根据以上权利要求中一项的装置,其中,至少在这些传感器模块(2,21,22,23,2n)之一的发射方向上设有一个准光学滤波器(6)。
6.根据以上权利要求中一项的装置,其中,至少一个相位检测装置(30)设有一个可控制的、具有可调节的滤波特性的滤波装置(27)。
7.根据以上权利要求中一项的装置,其中,至少一个传感器模块(2,21,22,23,2n)设有一个可控制的、具有可调节的振荡器频率(w)的振荡器装置(21,21a)。
8.根据权利要求6或7的装置,其中,所述控制及处理装置(10)与至少一个传感器模块(2,21,22,23,2n)相连接,以便用控制信号(1011,1012,1013,101n)来调节该滤波装置(27)和/或该传感器模块(2)的振荡器频率(w)。
9.根据以上权利要求中一项的装置,其中,相位检测装置(30)具有一个混频器(24),用于分离出接收的反射信号(111)。
10.根据以上权利要求中一项的装置,其中,相位检测装置(30)被这样构造,使得可借助对接收的反射信号(111)的直接采样来确定相位信号(100)。
11.根据以上权利要求中一项的装置,其中,至少两个传感器模块(2,21,22,23,2n)的振荡器装置(21,21a)彼此不同步。
12.根据以上权利要求中一项的装置,其中,设有一个同步装置(50),借助它可使至少两个振荡器装置(211,212)的振荡器装置(211,212)同步。
13.根据权利要求12的装置,其中,这些振荡器装置(211,212)具有一个锁相环路(291,292)。
14.根据以上权利要求中一项的装置,其中,这些传感器模块(2,21,22,23,2n)沿一个线或面地布置。
15.用于以角分辨的方式来确定目标(K)的距离及速度的方法,其中使用根据权利要求1的装置,包括以下步骤:
由传感器模块(2,21,22,23,2n)的至少一个发射/接收模块(20)发射振荡器信号(110);
借助该发射/接收装置(20)从一个方向(a1,a2,a3,an)接收由目标(K)反射的信号(111);
基于振荡器信号(110)及接收到的反射信号(111)确定一个相位信号(100);
借助该控制及处理装置(10)基于传感器模块彼此间的距离(d)及所确定的相位信号(100)来确定方向(a1,a2,a3,an)。
16.根据权利要求15的方法,其中,该控制及信号处理装置这样地调节振荡器模块(21,21a),使得每两个传感器模块(2,21,22,23,2n)的振荡器信号(110)具有不同的振荡器频率(w)。
17.根据权利要求15至16中一项的方法,其中,控制及处理装置根据相对时间的频率斜坡(2011,2012,2013,2014)来改变振荡器模块(21,21a)的振荡器频率(w)。
18.根据权利要求17的方法,其中,振荡器模块(21,21a)的振荡器频率(w)根据同一频率斜坡(2011,2012,2013,2014)在一个时间偏移(dt)后被改变,其中,该时间偏移(dt)对于各个传感器模块(2,21,22,23,2n)是不同的,以致在每个时刻每两个传感器模块(21,22,23,2n)的这些振荡器信号(110)具有不同的振荡器频率。
19.根据权利要求16至18中一项的方法,其中,至少一个传感器模块(2,21,22,23,2n)的相位检测装置(30)的滤波装置(27)的滤波特性被这样地调节,以致相位检测装置(30)仅确定基于由该传感器模块(2,21,22,23,2n)发射的信号(110)的相位信号(100)。
20.根据权利要求16-18中一项的方法,其中,一个第二传感器模块(21,22,23,2n)的相位检测装置的滤波装置(27)的滤波特性被这样地调节,以致相位检测装置(30)仅确定基于由一个第一、第二传感器模块(2,21,22,23,2n)发射的信号(110)的相位信号(100)。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004052518.8 | 2004-10-29 | ||
DE102004052518A DE102004052518A1 (de) | 2004-10-29 | 2004-10-29 | Vorrichtung und Verfahren zur winkelaufgelösten Entfernungs- und Geschwindigkeitsbetimmung eines Objekts |
Publications (1)
Publication Number | Publication Date |
---|---|
CN101052892A true CN101052892A (zh) | 2007-10-10 |
Family
ID=35456945
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNA2005800376432A Pending CN101052892A (zh) | 2004-10-29 | 2005-09-08 | 用于具有fmcw雷达传感器的机动车的、用于以角分辨方式借助于三角测量来确定目标的距离的传感器系统 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7764221B2 (zh) |
EP (1) | EP1810053A1 (zh) |
CN (1) | CN101052892A (zh) |
DE (1) | DE102004052518A1 (zh) |
WO (1) | WO2006045668A1 (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105556332A (zh) * | 2013-08-07 | 2016-05-04 | 恩德莱斯和豪瑟尔两合公司 | 管道或管中的fmcw雷达的频散校正 |
CN105572675A (zh) * | 2016-03-04 | 2016-05-11 | 鲁东大学 | 一种汽车防撞预警方法 |
CN107985241A (zh) * | 2016-10-26 | 2018-05-04 | 福特全球技术公司 | 基于间隙的安全气囊展开 |
CN109407096A (zh) * | 2017-08-17 | 2019-03-01 | 通用汽车环球科技运作有限责任公司 | 使用具有本地参考信号的车辆雷达元件的目标角度确定 |
Families Citing this family (178)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005062128A1 (de) * | 2005-12-23 | 2007-08-30 | Robert Bosch Gmbh | Radarvorrichtung |
US8055203B2 (en) * | 2007-03-14 | 2011-11-08 | Mks Instruments, Inc. | Multipoint voltage and current probe system |
DE102007036262A1 (de) * | 2007-08-02 | 2009-02-05 | Robert Bosch Gmbh | Radarsensor für Kraftfahrzeuge |
DE102007043535A1 (de) | 2007-09-12 | 2009-03-19 | Robert Bosch Gmbh | FMCW-Radarortungsvorrichtung und entsprechendes FMCW-Radarortungsverfahren |
DE102009045141A1 (de) * | 2009-09-30 | 2011-03-31 | Robert Bosch Gmbh | Radarsensor mit IQ-Empfänger |
US8493263B2 (en) * | 2011-06-28 | 2013-07-23 | Intelligent Sciences, Ltd. | Short baseline helicopter positioning radar for low visibility using combined phased array and phase difference array receivers |
US10009065B2 (en) | 2012-12-05 | 2018-06-26 | At&T Intellectual Property I, L.P. | Backhaul link for distributed antenna system |
US9113347B2 (en) | 2012-12-05 | 2015-08-18 | At&T Intellectual Property I, Lp | Backhaul link for distributed antenna system |
DE102013205892A1 (de) * | 2013-04-03 | 2014-10-09 | Robert Bosch Gmbh | Radarvorrichtung und Verfahren zum Betrieb einer Radarvorrichtung |
US9999038B2 (en) | 2013-05-31 | 2018-06-12 | At&T Intellectual Property I, L.P. | Remote distributed antenna system |
US9525524B2 (en) | 2013-05-31 | 2016-12-20 | At&T Intellectual Property I, L.P. | Remote distributed antenna system |
US8897697B1 (en) | 2013-11-06 | 2014-11-25 | At&T Intellectual Property I, Lp | Millimeter-wave surface-wave communications |
US9209902B2 (en) | 2013-12-10 | 2015-12-08 | At&T Intellectual Property I, L.P. | Quasi-optical coupler |
US9692101B2 (en) | 2014-08-26 | 2017-06-27 | At&T Intellectual Property I, L.P. | Guided wave couplers for coupling electromagnetic waves between a waveguide surface and a surface of a wire |
US9768833B2 (en) | 2014-09-15 | 2017-09-19 | At&T Intellectual Property I, L.P. | Method and apparatus for sensing a condition in a transmission medium of electromagnetic waves |
US10063280B2 (en) | 2014-09-17 | 2018-08-28 | At&T Intellectual Property I, L.P. | Monitoring and mitigating conditions in a communication network |
US9628854B2 (en) | 2014-09-29 | 2017-04-18 | At&T Intellectual Property I, L.P. | Method and apparatus for distributing content in a communication network |
US9615269B2 (en) | 2014-10-02 | 2017-04-04 | At&T Intellectual Property I, L.P. | Method and apparatus that provides fault tolerance in a communication network |
US9685992B2 (en) | 2014-10-03 | 2017-06-20 | At&T Intellectual Property I, L.P. | Circuit panel network and methods thereof |
US9503189B2 (en) | 2014-10-10 | 2016-11-22 | At&T Intellectual Property I, L.P. | Method and apparatus for arranging communication sessions in a communication system |
US9762289B2 (en) | 2014-10-14 | 2017-09-12 | At&T Intellectual Property I, L.P. | Method and apparatus for transmitting or receiving signals in a transportation system |
US9973299B2 (en) | 2014-10-14 | 2018-05-15 | At&T Intellectual Property I, L.P. | Method and apparatus for adjusting a mode of communication in a communication network |
US9653770B2 (en) | 2014-10-21 | 2017-05-16 | At&T Intellectual Property I, L.P. | Guided wave coupler, coupling module and methods for use therewith |
US9780834B2 (en) | 2014-10-21 | 2017-10-03 | At&T Intellectual Property I, L.P. | Method and apparatus for transmitting electromagnetic waves |
US9312919B1 (en) | 2014-10-21 | 2016-04-12 | At&T Intellectual Property I, Lp | Transmission device with impairment compensation and methods for use therewith |
US9520945B2 (en) | 2014-10-21 | 2016-12-13 | At&T Intellectual Property I, L.P. | Apparatus for providing communication services and methods thereof |
US9627768B2 (en) | 2014-10-21 | 2017-04-18 | At&T Intellectual Property I, L.P. | Guided-wave transmission device with non-fundamental mode propagation and methods for use therewith |
US9769020B2 (en) | 2014-10-21 | 2017-09-19 | At&T Intellectual Property I, L.P. | Method and apparatus for responding to events affecting communications in a communication network |
US9577306B2 (en) | 2014-10-21 | 2017-02-21 | At&T Intellectual Property I, L.P. | Guided-wave transmission device and methods for use therewith |
US9654173B2 (en) | 2014-11-20 | 2017-05-16 | At&T Intellectual Property I, L.P. | Apparatus for powering a communication device and methods thereof |
US10243784B2 (en) | 2014-11-20 | 2019-03-26 | At&T Intellectual Property I, L.P. | System for generating topology information and methods thereof |
US9680670B2 (en) | 2014-11-20 | 2017-06-13 | At&T Intellectual Property I, L.P. | Transmission device with channel equalization and control and methods for use therewith |
US9461706B1 (en) | 2015-07-31 | 2016-10-04 | At&T Intellectual Property I, Lp | Method and apparatus for exchanging communication signals |
US9742462B2 (en) | 2014-12-04 | 2017-08-22 | At&T Intellectual Property I, L.P. | Transmission medium and communication interfaces and methods for use therewith |
US9997819B2 (en) | 2015-06-09 | 2018-06-12 | At&T Intellectual Property I, L.P. | Transmission medium and method for facilitating propagation of electromagnetic waves via a core |
US10009067B2 (en) | 2014-12-04 | 2018-06-26 | At&T Intellectual Property I, L.P. | Method and apparatus for configuring a communication interface |
US9544006B2 (en) | 2014-11-20 | 2017-01-10 | At&T Intellectual Property I, L.P. | Transmission device with mode division multiplexing and methods for use therewith |
US10340573B2 (en) | 2016-10-26 | 2019-07-02 | At&T Intellectual Property I, L.P. | Launcher with cylindrical coupling device and methods for use therewith |
US9954287B2 (en) | 2014-11-20 | 2018-04-24 | At&T Intellectual Property I, L.P. | Apparatus for converting wireless signals and electromagnetic waves and methods thereof |
US10144036B2 (en) | 2015-01-30 | 2018-12-04 | At&T Intellectual Property I, L.P. | Method and apparatus for mitigating interference affecting a propagation of electromagnetic waves guided by a transmission medium |
US9876570B2 (en) | 2015-02-20 | 2018-01-23 | At&T Intellectual Property I, Lp | Guided-wave transmission device with non-fundamental mode propagation and methods for use therewith |
US9749013B2 (en) | 2015-03-17 | 2017-08-29 | At&T Intellectual Property I, L.P. | Method and apparatus for reducing attenuation of electromagnetic waves guided by a transmission medium |
US10224981B2 (en) | 2015-04-24 | 2019-03-05 | At&T Intellectual Property I, Lp | Passive electrical coupling device and methods for use therewith |
US9705561B2 (en) | 2015-04-24 | 2017-07-11 | At&T Intellectual Property I, L.P. | Directional coupling device and methods for use therewith |
US9793954B2 (en) | 2015-04-28 | 2017-10-17 | At&T Intellectual Property I, L.P. | Magnetic coupling device and methods for use therewith |
US9948354B2 (en) | 2015-04-28 | 2018-04-17 | At&T Intellectual Property I, L.P. | Magnetic coupling device with reflective plate and methods for use therewith |
US9490869B1 (en) | 2015-05-14 | 2016-11-08 | At&T Intellectual Property I, L.P. | Transmission medium having multiple cores and methods for use therewith |
US9748626B2 (en) | 2015-05-14 | 2017-08-29 | At&T Intellectual Property I, L.P. | Plurality of cables having different cross-sectional shapes which are bundled together to form a transmission medium |
US9871282B2 (en) | 2015-05-14 | 2018-01-16 | At&T Intellectual Property I, L.P. | At least one transmission medium having a dielectric surface that is covered at least in part by a second dielectric |
US10650940B2 (en) | 2015-05-15 | 2020-05-12 | At&T Intellectual Property I, L.P. | Transmission medium having a conductive material and methods for use therewith |
US9917341B2 (en) | 2015-05-27 | 2018-03-13 | At&T Intellectual Property I, L.P. | Apparatus and method for launching electromagnetic waves and for modifying radial dimensions of the propagating electromagnetic waves |
US10812174B2 (en) | 2015-06-03 | 2020-10-20 | At&T Intellectual Property I, L.P. | Client node device and methods for use therewith |
US9912381B2 (en) | 2015-06-03 | 2018-03-06 | At&T Intellectual Property I, Lp | Network termination and methods for use therewith |
US10103801B2 (en) | 2015-06-03 | 2018-10-16 | At&T Intellectual Property I, L.P. | Host node device and methods for use therewith |
US9866309B2 (en) | 2015-06-03 | 2018-01-09 | At&T Intellectual Property I, Lp | Host node device and methods for use therewith |
US9913139B2 (en) | 2015-06-09 | 2018-03-06 | At&T Intellectual Property I, L.P. | Signal fingerprinting for authentication of communicating devices |
US9608692B2 (en) | 2015-06-11 | 2017-03-28 | At&T Intellectual Property I, L.P. | Repeater and methods for use therewith |
US10142086B2 (en) | 2015-06-11 | 2018-11-27 | At&T Intellectual Property I, L.P. | Repeater and methods for use therewith |
US9820146B2 (en) | 2015-06-12 | 2017-11-14 | At&T Intellectual Property I, L.P. | Method and apparatus for authentication and identity management of communicating devices |
US9667317B2 (en) | 2015-06-15 | 2017-05-30 | At&T Intellectual Property I, L.P. | Method and apparatus for providing security using network traffic adjustments |
US9640850B2 (en) | 2015-06-25 | 2017-05-02 | At&T Intellectual Property I, L.P. | Methods and apparatus for inducing a non-fundamental wave mode on a transmission medium |
US9865911B2 (en) | 2015-06-25 | 2018-01-09 | At&T Intellectual Property I, L.P. | Waveguide system for slot radiating first electromagnetic waves that are combined into a non-fundamental wave mode second electromagnetic wave on a transmission medium |
US9509415B1 (en) | 2015-06-25 | 2016-11-29 | At&T Intellectual Property I, L.P. | Methods and apparatus for inducing a fundamental wave mode on a transmission medium |
US10033108B2 (en) | 2015-07-14 | 2018-07-24 | At&T Intellectual Property I, L.P. | Apparatus and methods for generating an electromagnetic wave having a wave mode that mitigates interference |
US10044409B2 (en) | 2015-07-14 | 2018-08-07 | At&T Intellectual Property I, L.P. | Transmission medium and methods for use therewith |
US9836957B2 (en) | 2015-07-14 | 2017-12-05 | At&T Intellectual Property I, L.P. | Method and apparatus for communicating with premises equipment |
US9882257B2 (en) | 2015-07-14 | 2018-01-30 | At&T Intellectual Property I, L.P. | Method and apparatus for launching a wave mode that mitigates interference |
US10320586B2 (en) | 2015-07-14 | 2019-06-11 | At&T Intellectual Property I, L.P. | Apparatus and methods for generating non-interfering electromagnetic waves on an insulated transmission medium |
US9722318B2 (en) | 2015-07-14 | 2017-08-01 | At&T Intellectual Property I, L.P. | Method and apparatus for coupling an antenna to a device |
US9628116B2 (en) | 2015-07-14 | 2017-04-18 | At&T Intellectual Property I, L.P. | Apparatus and methods for transmitting wireless signals |
US10170840B2 (en) | 2015-07-14 | 2019-01-01 | At&T Intellectual Property I, L.P. | Apparatus and methods for sending or receiving electromagnetic signals |
US9847566B2 (en) | 2015-07-14 | 2017-12-19 | At&T Intellectual Property I, L.P. | Method and apparatus for adjusting a field of a signal to mitigate interference |
US10341142B2 (en) | 2015-07-14 | 2019-07-02 | At&T Intellectual Property I, L.P. | Apparatus and methods for generating non-interfering electromagnetic waves on an uninsulated conductor |
US10148016B2 (en) | 2015-07-14 | 2018-12-04 | At&T Intellectual Property I, L.P. | Apparatus and methods for communicating utilizing an antenna array |
US9853342B2 (en) | 2015-07-14 | 2017-12-26 | At&T Intellectual Property I, L.P. | Dielectric transmission medium connector and methods for use therewith |
US10205655B2 (en) | 2015-07-14 | 2019-02-12 | At&T Intellectual Property I, L.P. | Apparatus and methods for communicating utilizing an antenna array and multiple communication paths |
US10033107B2 (en) | 2015-07-14 | 2018-07-24 | At&T Intellectual Property I, L.P. | Method and apparatus for coupling an antenna to a device |
US9608740B2 (en) | 2015-07-15 | 2017-03-28 | At&T Intellectual Property I, L.P. | Method and apparatus for launching a wave mode that mitigates interference |
US10090606B2 (en) | 2015-07-15 | 2018-10-02 | At&T Intellectual Property I, L.P. | Antenna system with dielectric array and methods for use therewith |
US9793951B2 (en) | 2015-07-15 | 2017-10-17 | At&T Intellectual Property I, L.P. | Method and apparatus for launching a wave mode that mitigates interference |
US9871283B2 (en) | 2015-07-23 | 2018-01-16 | At&T Intellectual Property I, Lp | Transmission medium having a dielectric core comprised of plural members connected by a ball and socket configuration |
US9749053B2 (en) | 2015-07-23 | 2017-08-29 | At&T Intellectual Property I, L.P. | Node device, repeater and methods for use therewith |
US10784670B2 (en) | 2015-07-23 | 2020-09-22 | At&T Intellectual Property I, L.P. | Antenna support for aligning an antenna |
US9912027B2 (en) | 2015-07-23 | 2018-03-06 | At&T Intellectual Property I, L.P. | Method and apparatus for exchanging communication signals |
US9948333B2 (en) | 2015-07-23 | 2018-04-17 | At&T Intellectual Property I, L.P. | Method and apparatus for wireless communications to mitigate interference |
US9735833B2 (en) | 2015-07-31 | 2017-08-15 | At&T Intellectual Property I, L.P. | Method and apparatus for communications management in a neighborhood network |
US9967173B2 (en) | 2015-07-31 | 2018-05-08 | At&T Intellectual Property I, L.P. | Method and apparatus for authentication and identity management of communicating devices |
US10020587B2 (en) | 2015-07-31 | 2018-07-10 | At&T Intellectual Property I, L.P. | Radial antenna and methods for use therewith |
US9904535B2 (en) | 2015-09-14 | 2018-02-27 | At&T Intellectual Property I, L.P. | Method and apparatus for distributing software |
US10136434B2 (en) | 2015-09-16 | 2018-11-20 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having an ultra-wideband control channel |
US10079661B2 (en) | 2015-09-16 | 2018-09-18 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having a clock reference |
US10051629B2 (en) | 2015-09-16 | 2018-08-14 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having an in-band reference signal |
US10009063B2 (en) | 2015-09-16 | 2018-06-26 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having an out-of-band reference signal |
US10009901B2 (en) | 2015-09-16 | 2018-06-26 | At&T Intellectual Property I, L.P. | Method, apparatus, and computer-readable storage medium for managing utilization of wireless resources between base stations |
US9769128B2 (en) | 2015-09-28 | 2017-09-19 | At&T Intellectual Property I, L.P. | Method and apparatus for encryption of communications over a network |
US9729197B2 (en) | 2015-10-01 | 2017-08-08 | At&T Intellectual Property I, L.P. | Method and apparatus for communicating network management traffic over a network |
US9876264B2 (en) | 2015-10-02 | 2018-01-23 | At&T Intellectual Property I, Lp | Communication system, guided wave switch and methods for use therewith |
US9882277B2 (en) | 2015-10-02 | 2018-01-30 | At&T Intellectual Property I, Lp | Communication device and antenna assembly with actuated gimbal mount |
US10665942B2 (en) | 2015-10-16 | 2020-05-26 | At&T Intellectual Property I, L.P. | Method and apparatus for adjusting wireless communications |
US10355367B2 (en) | 2015-10-16 | 2019-07-16 | At&T Intellectual Property I, L.P. | Antenna structure for exchanging wireless signals |
US10261179B2 (en) | 2016-04-07 | 2019-04-16 | Uhnder, Inc. | Software defined automotive radar |
US9846228B2 (en) | 2016-04-07 | 2017-12-19 | Uhnder, Inc. | Software defined automotive radar systems |
WO2017175190A1 (en) * | 2016-04-07 | 2017-10-12 | Uhnder, Inc. | Adaptive transmission and interference cancellation for mimo radar |
US9945935B2 (en) | 2016-04-25 | 2018-04-17 | Uhnder, Inc. | Digital frequency modulated continuous wave radar using handcrafted constant envelope modulation |
CN109073741B (zh) | 2016-04-25 | 2019-07-02 | 乌恩德股份有限公司 | 用于车辆的雷达感测系统及缓解其干扰的方法 |
EP3449272B1 (en) | 2016-04-25 | 2022-11-02 | Uhnder, Inc. | Vehicle radar system with a shared radar and communication system, and method for managing such a system in a vehicle |
US9753121B1 (en) | 2016-06-20 | 2017-09-05 | Uhnder, Inc. | Power control for improved near-far performance of radar systems |
US9912419B1 (en) | 2016-08-24 | 2018-03-06 | At&T Intellectual Property I, L.P. | Method and apparatus for managing a fault in a distributed antenna system |
US9860075B1 (en) | 2016-08-26 | 2018-01-02 | At&T Intellectual Property I, L.P. | Method and communication node for broadband distribution |
US10291311B2 (en) | 2016-09-09 | 2019-05-14 | At&T Intellectual Property I, L.P. | Method and apparatus for mitigating a fault in a distributed antenna system |
US11032819B2 (en) | 2016-09-15 | 2021-06-08 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having a control channel reference signal |
US10340600B2 (en) | 2016-10-18 | 2019-07-02 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching guided waves via plural waveguide systems |
US10135146B2 (en) | 2016-10-18 | 2018-11-20 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching guided waves via circuits |
US10135147B2 (en) | 2016-10-18 | 2018-11-20 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching guided waves via an antenna |
US10374316B2 (en) | 2016-10-21 | 2019-08-06 | At&T Intellectual Property I, L.P. | System and dielectric antenna with non-uniform dielectric |
US9876605B1 (en) | 2016-10-21 | 2018-01-23 | At&T Intellectual Property I, L.P. | Launcher and coupling system to support desired guided wave mode |
US9991580B2 (en) | 2016-10-21 | 2018-06-05 | At&T Intellectual Property I, L.P. | Launcher and coupling system for guided wave mode cancellation |
US10811767B2 (en) | 2016-10-21 | 2020-10-20 | At&T Intellectual Property I, L.P. | System and dielectric antenna with convex dielectric radome |
US10312567B2 (en) | 2016-10-26 | 2019-06-04 | At&T Intellectual Property I, L.P. | Launcher with planar strip antenna and methods for use therewith |
US10498044B2 (en) | 2016-11-03 | 2019-12-03 | At&T Intellectual Property I, L.P. | Apparatus for configuring a surface of an antenna |
US10291334B2 (en) | 2016-11-03 | 2019-05-14 | At&T Intellectual Property I, L.P. | System for detecting a fault in a communication system |
US10225025B2 (en) | 2016-11-03 | 2019-03-05 | At&T Intellectual Property I, L.P. | Method and apparatus for detecting a fault in a communication system |
US10224634B2 (en) | 2016-11-03 | 2019-03-05 | At&T Intellectual Property I, L.P. | Methods and apparatus for adjusting an operational characteristic of an antenna |
US10535928B2 (en) | 2016-11-23 | 2020-01-14 | At&T Intellectual Property I, L.P. | Antenna system and methods for use therewith |
US10340601B2 (en) | 2016-11-23 | 2019-07-02 | At&T Intellectual Property I, L.P. | Multi-antenna system and methods for use therewith |
US10178445B2 (en) | 2016-11-23 | 2019-01-08 | At&T Intellectual Property I, L.P. | Methods, devices, and systems for load balancing between a plurality of waveguides |
US10340603B2 (en) | 2016-11-23 | 2019-07-02 | At&T Intellectual Property I, L.P. | Antenna system having shielded structural configurations for assembly |
US10090594B2 (en) | 2016-11-23 | 2018-10-02 | At&T Intellectual Property I, L.P. | Antenna system having structural configurations for assembly |
US10361489B2 (en) | 2016-12-01 | 2019-07-23 | At&T Intellectual Property I, L.P. | Dielectric dish antenna system and methods for use therewith |
US10305190B2 (en) | 2016-12-01 | 2019-05-28 | At&T Intellectual Property I, L.P. | Reflecting dielectric antenna system and methods for use therewith |
US10439675B2 (en) | 2016-12-06 | 2019-10-08 | At&T Intellectual Property I, L.P. | Method and apparatus for repeating guided wave communication signals |
US10727599B2 (en) | 2016-12-06 | 2020-07-28 | At&T Intellectual Property I, L.P. | Launcher with slot antenna and methods for use therewith |
US10819035B2 (en) | 2016-12-06 | 2020-10-27 | At&T Intellectual Property I, L.P. | Launcher with helical antenna and methods for use therewith |
US10326494B2 (en) | 2016-12-06 | 2019-06-18 | At&T Intellectual Property I, L.P. | Apparatus for measurement de-embedding and methods for use therewith |
US10020844B2 (en) | 2016-12-06 | 2018-07-10 | T&T Intellectual Property I, L.P. | Method and apparatus for broadcast communication via guided waves |
US10382976B2 (en) | 2016-12-06 | 2019-08-13 | At&T Intellectual Property I, L.P. | Method and apparatus for managing wireless communications based on communication paths and network device positions |
US9927517B1 (en) | 2016-12-06 | 2018-03-27 | At&T Intellectual Property I, L.P. | Apparatus and methods for sensing rainfall |
US10637149B2 (en) | 2016-12-06 | 2020-04-28 | At&T Intellectual Property I, L.P. | Injection molded dielectric antenna and methods for use therewith |
US10135145B2 (en) | 2016-12-06 | 2018-11-20 | At&T Intellectual Property I, L.P. | Apparatus and methods for generating an electromagnetic wave along a transmission medium |
US10755542B2 (en) | 2016-12-06 | 2020-08-25 | At&T Intellectual Property I, L.P. | Method and apparatus for surveillance via guided wave communication |
US10694379B2 (en) | 2016-12-06 | 2020-06-23 | At&T Intellectual Property I, L.P. | Waveguide system with device-based authentication and methods for use therewith |
US10168695B2 (en) | 2016-12-07 | 2019-01-01 | At&T Intellectual Property I, L.P. | Method and apparatus for controlling an unmanned aircraft |
US10547348B2 (en) | 2016-12-07 | 2020-01-28 | At&T Intellectual Property I, L.P. | Method and apparatus for switching transmission mediums in a communication system |
US10389029B2 (en) | 2016-12-07 | 2019-08-20 | At&T Intellectual Property I, L.P. | Multi-feed dielectric antenna system with core selection and methods for use therewith |
US9893795B1 (en) | 2016-12-07 | 2018-02-13 | At&T Intellectual Property I, Lp | Method and repeater for broadband distribution |
US10243270B2 (en) | 2016-12-07 | 2019-03-26 | At&T Intellectual Property I, L.P. | Beam adaptive multi-feed dielectric antenna system and methods for use therewith |
US10359749B2 (en) | 2016-12-07 | 2019-07-23 | At&T Intellectual Property I, L.P. | Method and apparatus for utilities management via guided wave communication |
US10446936B2 (en) | 2016-12-07 | 2019-10-15 | At&T Intellectual Property I, L.P. | Multi-feed dielectric antenna system and methods for use therewith |
US10027397B2 (en) | 2016-12-07 | 2018-07-17 | At&T Intellectual Property I, L.P. | Distributed antenna system and methods for use therewith |
US10139820B2 (en) | 2016-12-07 | 2018-11-27 | At&T Intellectual Property I, L.P. | Method and apparatus for deploying equipment of a communication system |
US10326689B2 (en) | 2016-12-08 | 2019-06-18 | At&T Intellectual Property I, L.P. | Method and system for providing alternative communication paths |
US10601494B2 (en) | 2016-12-08 | 2020-03-24 | At&T Intellectual Property I, L.P. | Dual-band communication device and method for use therewith |
US9911020B1 (en) | 2016-12-08 | 2018-03-06 | At&T Intellectual Property I, L.P. | Method and apparatus for tracking via a radio frequency identification device |
US10103422B2 (en) | 2016-12-08 | 2018-10-16 | At&T Intellectual Property I, L.P. | Method and apparatus for mounting network devices |
US10777873B2 (en) | 2016-12-08 | 2020-09-15 | At&T Intellectual Property I, L.P. | Method and apparatus for mounting network devices |
US9998870B1 (en) | 2016-12-08 | 2018-06-12 | At&T Intellectual Property I, L.P. | Method and apparatus for proximity sensing |
US10530505B2 (en) | 2016-12-08 | 2020-01-07 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching electromagnetic waves along a transmission medium |
US10938108B2 (en) | 2016-12-08 | 2021-03-02 | At&T Intellectual Property I, L.P. | Frequency selective multi-feed dielectric antenna system and methods for use therewith |
US10916969B2 (en) | 2016-12-08 | 2021-02-09 | At&T Intellectual Property I, L.P. | Method and apparatus for providing power using an inductive coupling |
US10389037B2 (en) | 2016-12-08 | 2019-08-20 | At&T Intellectual Property I, L.P. | Apparatus and methods for selecting sections of an antenna array and use therewith |
US10411356B2 (en) | 2016-12-08 | 2019-09-10 | At&T Intellectual Property I, L.P. | Apparatus and methods for selectively targeting communication devices with an antenna array |
US10069535B2 (en) | 2016-12-08 | 2018-09-04 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching electromagnetic waves having a certain electric field structure |
US10340983B2 (en) | 2016-12-09 | 2019-07-02 | At&T Intellectual Property I, L.P. | Method and apparatus for surveying remote sites via guided wave communications |
US10264586B2 (en) | 2016-12-09 | 2019-04-16 | At&T Mobility Ii Llc | Cloud-based packet controller and methods for use therewith |
US9838896B1 (en) | 2016-12-09 | 2017-12-05 | At&T Intellectual Property I, L.P. | Method and apparatus for assessing network coverage |
US10670695B2 (en) | 2017-02-10 | 2020-06-02 | Uhnder, Inc. | Programmable code generation for radar sensing systems |
US11454697B2 (en) | 2017-02-10 | 2022-09-27 | Uhnder, Inc. | Increasing performance of a receive pipeline of a radar with memory optimization |
US10908272B2 (en) | 2017-02-10 | 2021-02-02 | Uhnder, Inc. | Reduced complexity FFT-based correlation for automotive radar |
US9973940B1 (en) | 2017-02-27 | 2018-05-15 | At&T Intellectual Property I, L.P. | Apparatus and methods for dynamic impedance matching of a guided wave launcher |
US10298293B2 (en) | 2017-03-13 | 2019-05-21 | At&T Intellectual Property I, L.P. | Apparatus of communication utilizing wireless network devices |
DE102017218160B4 (de) * | 2017-10-11 | 2024-04-18 | Audi Ag | Verfahren zum Betrieb eines Radarsystems eines Kraftfahrzeugs und Kraftfahrzeug |
US11105890B2 (en) | 2017-12-14 | 2021-08-31 | Uhnder, Inc. | Frequency modulated signal cancellation in variable power mode for radar applications |
DE102018124503A1 (de) * | 2018-10-04 | 2020-04-09 | HELLA GmbH & Co. KGaA | Radarsystem für ein Fahrzeug |
US11474225B2 (en) | 2018-11-09 | 2022-10-18 | Uhnder, Inc. | Pulse digital mimo radar system |
JP6840308B2 (ja) * | 2019-01-31 | 2021-03-10 | 三菱電機株式会社 | レーダ装置および信号処理方法 |
HUE054958T2 (hu) * | 2019-02-04 | 2021-10-28 | Grieshaber Vega Kg | Antenna elrendezés |
WO2020183392A1 (en) | 2019-03-12 | 2020-09-17 | Uhnder, Inc. | Method and apparatus for mitigation of low frequency noise in radar systems |
US20210215820A1 (en) | 2020-01-13 | 2021-07-15 | Uhnder, Inc. | Method and system for intefrence management for digital radars |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1236494A (en) * | 1969-06-23 | 1971-06-23 | Marconi Co Ltd | Improvements in or relating to phase difference detectors |
US4310852A (en) * | 1980-04-08 | 1982-01-12 | General Dynamics Corp., Electronics Division | Real-time electromagnetic radiation intensity distribution imaging system |
JPS6130428A (ja) * | 1984-07-20 | 1986-02-12 | Nissan Motor Co Ltd | 車両走行制御装置 |
US4717916A (en) * | 1986-05-16 | 1988-01-05 | Holodyne Ltd., 1986 | High resolution imaging doppler interferometer |
US4818999A (en) * | 1986-10-29 | 1989-04-04 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method and apparatus for measuring frequency and phase difference |
US5654715A (en) * | 1995-12-15 | 1997-08-05 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle-surroundings monitoring apparatus |
GB9602250D0 (en) * | 1996-02-05 | 1996-04-03 | Secr Defence | Collision warning system |
US5872536A (en) * | 1997-02-19 | 1999-02-16 | Hittite Microwave Corporation | Multi-sensor anticipatory object detection system |
US5839096A (en) * | 1997-03-10 | 1998-11-17 | Hittite Microwave Corporation | Self-implementing diagnostic system |
JP3061261B2 (ja) * | 1997-04-01 | 2000-07-10 | 本田技研工業株式会社 | Fmレーダ装置 |
EP0965859A4 (en) * | 1997-12-25 | 2001-03-14 | Toyoda Chuo Kenkyusho Kk | RADAR SYSTEM |
US6069581A (en) * | 1998-02-20 | 2000-05-30 | Amerigon | High performance vehicle radar system |
ES2176007T3 (es) | 1998-08-06 | 2002-11-16 | Volkswagen Ag | Procedimiento y dispositivo para captar objetos, especialmente como dispositivo de asistencia y ayuda de aparcamiento en un vehiculo automovil. |
DE19948025A1 (de) * | 1999-10-06 | 2001-04-12 | Bosch Gmbh Robert | Asymmetrischer, mehrstrahliger Radarsensor |
WO2002014898A2 (en) * | 2000-08-16 | 2002-02-21 | Raytheon Company | Near object detection system |
US6577269B2 (en) | 2000-08-16 | 2003-06-10 | Raytheon Company | Radar detection method and apparatus |
DE10049906A1 (de) * | 2000-10-10 | 2002-04-11 | Bosch Gmbh Robert | Sensoranordnung mit einem Puls-Echo-Radar |
JP3883847B2 (ja) * | 2001-11-19 | 2007-02-21 | 株式会社日立製作所 | 車載用信号処理装置 |
US6750810B2 (en) * | 2001-12-18 | 2004-06-15 | Hitachi, Ltd. | Monopulse radar system |
DE10213987A1 (de) * | 2002-03-27 | 2003-10-16 | Bosch Gmbh Robert | Einrichtung für insbesondere bistatische Anwendungen |
JP3988653B2 (ja) * | 2003-02-10 | 2007-10-10 | 株式会社デンソー | アンテナの配列方法、及びレーダ装置 |
-
2004
- 2004-10-29 DE DE102004052518A patent/DE102004052518A1/de not_active Ceased
-
2005
- 2005-09-08 CN CNA2005800376432A patent/CN101052892A/zh active Pending
- 2005-09-08 WO PCT/EP2005/054458 patent/WO2006045668A1/de active Application Filing
- 2005-09-08 US US11/666,832 patent/US7764221B2/en not_active Expired - Fee Related
- 2005-09-08 EP EP05796970A patent/EP1810053A1/de not_active Ceased
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105556332A (zh) * | 2013-08-07 | 2016-05-04 | 恩德莱斯和豪瑟尔两合公司 | 管道或管中的fmcw雷达的频散校正 |
CN105556332B (zh) * | 2013-08-07 | 2017-11-03 | 恩德莱斯和豪瑟尔两合公司 | 管道或管中的fmcw雷达的频散校正 |
US10209346B2 (en) | 2013-08-07 | 2019-02-19 | Endress + Hauser Gmbh + Co. Kg | Dispersion correction for FMCW radar in a pipe or tube |
CN105572675A (zh) * | 2016-03-04 | 2016-05-11 | 鲁东大学 | 一种汽车防撞预警方法 |
CN105572675B (zh) * | 2016-03-04 | 2017-12-26 | 鲁东大学 | 一种汽车防撞预警方法 |
CN107985241A (zh) * | 2016-10-26 | 2018-05-04 | 福特全球技术公司 | 基于间隙的安全气囊展开 |
CN107985241B (zh) * | 2016-10-26 | 2022-05-10 | 福特全球技术公司 | 安全气囊及其展开方法 |
CN109407096A (zh) * | 2017-08-17 | 2019-03-01 | 通用汽车环球科技运作有限责任公司 | 使用具有本地参考信号的车辆雷达元件的目标角度确定 |
Also Published As
Publication number | Publication date |
---|---|
EP1810053A1 (de) | 2007-07-25 |
US7764221B2 (en) | 2010-07-27 |
WO2006045668A1 (de) | 2006-05-04 |
DE102004052518A1 (de) | 2006-05-04 |
US20080150790A1 (en) | 2008-06-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101052892A (zh) | 用于具有fmcw雷达传感器的机动车的、用于以角分辨方式借助于三角测量来确定目标的距离的传感器系统 | |
US6894641B2 (en) | Radar system mounted on vehicle | |
US8922422B2 (en) | FMCW radar sensor for motor vehicles | |
EP0777133B1 (en) | FM-CW radar apparatus for measuring relative speed of and distance to an object | |
EP0981059B1 (en) | FM-CW radar apparatus | |
KR102274657B1 (ko) | 각도 해상도가 개선된 이미징 레이더 센서 및 이를 통한 위치 결정 방법. | |
US11959996B2 (en) | Radar device | |
JPH10505429A (ja) | モノスタチックfmcwレーダセンサ | |
JP2019500593A5 (zh) | ||
US20210239791A1 (en) | Radar Device | |
US6246357B1 (en) | Radar apparatus | |
KR20150127188A (ko) | 물체 분류를 위한 편파측정 레이더 및 이를 이용한 물체 분류 방법 | |
DE19942665A1 (de) | FM-CW-Radarsystem zum Messen der Entfernung zu einem Target und der relativen Geschwindigkeit des Targets | |
JPWO2017084661A5 (zh) | ||
US10473760B2 (en) | Radar device and vertical axis-misalignment detecting method | |
JP2013519096A (ja) | レーダセンサ | |
JP2014002053A (ja) | 車載用のレーダ装置、車載用のレーダ方法及び車載用のレーダプログラム | |
US11774570B2 (en) | Radar device | |
CN113985444A (zh) | 在调频连续波(fmcw)激光雷达系统中跨帧改变波形 | |
CN101052891A (zh) | 具有固定目标抑制的fmcw雷达 | |
US6906661B2 (en) | Object-detecting system for vehicle | |
JP2010175471A (ja) | レーダ装置 | |
CN113625280A (zh) | 车辆用雷达装置、雷达装置的控制方法及车辆用雷达系统 | |
US9488718B2 (en) | Angle-resolving radar sensor for motor vehicles | |
CN111051918B (zh) | 雷达装置以及具备该雷达装置的汽车 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20071010 |