CN102066970B - 具有正面和侧面辐射的雷达传感器 - Google Patents

具有正面和侧面辐射的雷达传感器 Download PDF

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CN102066970B
CN102066970B CN200980122802.7A CN200980122802A CN102066970B CN 102066970 B CN102066970 B CN 102066970B CN 200980122802 A CN200980122802 A CN 200980122802A CN 102066970 B CN102066970 B CN 102066970B
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CN102066970A (zh
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M·温特曼特尔
A·莫比乌斯
C·施沃雷尔
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ADC Automotive Distance Control Systems GmbH
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    • 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
    • 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
    • G01S13/343—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 sawtooth 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
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    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • 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
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    • 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
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    • G—PHYSICS
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    • 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
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    • 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
    • G01S7/0234—Avoidance by code 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • 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
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    • G01S7/28—Details of pulse systems
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    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q9/00—Electrically-short antennas having dimensions not more than twice the operating wavelength and consisting of conductive active radiating elements
    • H01Q9/04—Resonant antennas
    • H01Q9/0407—Substantially flat resonant element parallel to ground plane, e.g. patch antenna
    • 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
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • 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
    • G01S2013/462—Indirect determination of position data using multipath signals
    • G—PHYSICS
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    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/356—Receivers involving particularities of FFT processing

Abstract

用于机动车的周围环境探测的雷达传感器，具有：发射器，用于通过多个发射天线辐射发射信号；接收器，用于通过多个接收天线接收目标上反射的发射信号；信号处理器，用于处理接收的信号，其特征在于，有多个发射天线和多个接收天线，所述多个发射天线和多个接收天线分别包含至少一个设置在平面的印刷电路板的正面或背面上的进行发射或者接收的单体，以下称为元辐射体；有至少一个发射天线和接收天线，所述至少一个发射天线和接收天线分别包含至少一个设置在平面的印刷电路板上的元辐射体，所述元辐射体的射束锥中心在所述雷达传感器之外相对于所述印刷电路板上的垂线倾斜角度最多45°；有至少一个发射天线和接收天线，所述至少一个发射天线和接收天线分别包含至少一个设置在平面的印刷电路板上的元辐射体，所述元辐射体的射束锥中心在雷达传感器之外相对于所述印刷电路板上的垂线倾斜大于45°的角度。

Description

具有正面和侧面辐射的雷达传感器
技术领域
本发明涉及一种用于机动车中的驾驶员辅助系统的雷达传感器。根据本发明。该雷达传感器按本发明具有正面和侧面辐射并且尤其适用于实现换道辅助。
背景技术
机动车越来越多地配备驾驶员辅助系统，这些辅助系统借助传感器系统探测环境，并根据由此识别的交通状况引导汽车作出自动反应，和/或对驾驶员进行指示、特别是发出警告。在此，区分为舒适功能及安全功能。
作为舒适功能，FSRA(全速范围自适应巡航控制)在目前发展中起着最重要的作用。只要交通状况允许，汽车将自身速度调节到驾驶员预先规定的期望速度，否则，自身速度会自动适应于交通状况。换道辅助则正是第二重要的舒适功能，当在相邻车道上有在变道时必须被注意的另一辆汽车时，换道辅助向驾驶员显示或用设置的闪光信号灯对驾驶员进行警告，从而尤其避免由于迫使所述另外的车辆自身进行紧急制动或不受控制地进行变道造成的事故和危险情形。
除了提高舒适性外，还须关注安全功能。其中，紧急情况下缩短制动-或者说停车距离是最重要的。相应的驾驶员辅助功能的范围从为缩短制动时延自动预先启动制动(Prefill)经由改进的制动辅助系统(BAS+)延伸直至自主紧急制动。
如今，上述形式的驾驶员辅助系统主要应用雷达传感器。雷达传感器即使在恶劣的天气条件下仍可靠工作，并且除与目标的距离外，还能通过多普勒效应直接测量目标的径向相对速度。在此，使用24GHz和77GHz的频率作为发射频率。
现今可供使用的雷达传感器仅有一个最大约为-75°到+75°的正面探测范围。然而，为了实现高性能换道辅助，探测范围需要进一步向侧面扩展，以便在一定程度上能够侦测到角落处；这特别对于下述情况是重要的，即，自己的汽车缓慢超越另一尤其是较小的车辆而且被超越的车辆处于侧面后视镜的视野盲区。为了实现这种扩展的侧面探测范围，根据现有技术，要么需要具有不同安装定向的第二传感器，要么需要至少一块附加的、不同定向的高频印刷电路板，这会显著提高系统成本。
发明内容
本发明的目的是：产生一种具有正面及侧面的探测区域的有利的传感器。
该目的原则上借助一种具有以下技术特征的用于机动车的周围环境探测的雷达传感器来实现，即：所述雷达传感器包括：
发射器，用于通过多个发射天线辐射发射信号；
接收器，用于通过多个接收天线接收在目标上反射的发射信号；
信号处理器，用于处理接收的信号；
其中具有多个发射天线和多个接收天线，所述多个发射天线和多个接收天线分别包含至少一个设置在平面的印刷电路板的正面或背面上的进行发射或者接收的单位元件，以下称为元辐射体；
具有至少一个包含至少一个其射束锥中心在所述雷达传感器之外相对于所述印刷电路板上的垂线倾斜最多45°的元辐射体的发射天线和接收天线，所述元辐射体设置在平面的印刷电路板上；
具有至少一个包含至少一个其射束锥中心在所述雷达传感器之外相对于所述印刷电路板上的垂线倾斜大于45°的角度的元辐射体的发射天线和接收天线，所述元辐射体设置在平面的印刷电路板上；
一个或多个元辐射体的射束锥中心在所述雷达传感器之外相对所述印刷电路板上的垂线倾斜大于45°的角度由此实现，即：使用以印制结构构造的元辐射体，其射束锥中心在没有附加的器件情况下至少近似垂直于印刷电路板，并且因此其以下称为正面元辐射体，并且为了使优选靠近所述印刷电路板的边缘设置的正面元辐射体的射束锥中心倾斜，并且因此为了实现侧向发射的元辐射体，采用下述措施至少之一：
-将所述正面元辐射体的辐射路径借助进行反射的、特别是金属或金属化的、平面的或弯曲的、在所述正面元辐射体上方的表面来进行转向，所述表面作为内部支承件的或外壳的一部分来实现，
-将正面元辐射体的辐射路径借助波导管结构进行转向，
-将正面元辐射体的辐射路径借助由介电材料合适成型的、特别是在所述正面元辐射体上方的结构来进行转向，其中所述介电材料是塑料外壳的部分。
在此示出的是，如何能够利用平的印刷电路板上的元辐射体实现侧向的辐射，为此采用直接在侧向辐射的、在印刷电路板边缘设置的元辐射体和/或在反射表面上或利用相应成型的介电材料从正面辐射的元辐射体进行的射束转向。
本发明的优点由以下事实得出，即：能有利地实现一种具有正面的及侧面的探测区域的传感器，该传感器尤其适用于执行换道辅助(Spurwechselassistenten)，而且在其他功能的情况下也可导致系统成本的显著降低，因为如果在汽车角落的区域内安装根据本发明的传感器，就能减少汽车中所需传感器的数量。所需传感器的数量减少当然还有其他优点，比如减少所需安装空间和降低汽车重量。
按进一步方案，所述雷达传感器具有至少一个其射束锥中心在雷达传感器之外至少近似平行于印刷电路板或近似垂直于印刷电路板的元辐射体。
按进一步方案，所述元辐射体构造为印制结构，尤其是构造为贴片。
按进一步方案，使用至少一个既用于发射也用于接收的天线。
按进一步方案，一个或多个元辐射体的射束锥中心在所述雷达传感器之外相对所述印刷电路板上的垂线倾斜大于45°的角度由此实现，即：使用以印制结构构造的元辐射体，其射束锥中心在没有附加的器件情况下位于印刷电路板的侧面，且因此位于印刷电路板的侧面的元辐射体以下被称为侧面元辐射体，其中，所述侧面元辐射体设置在印刷电路板的边缘上。
按进一步方案，一个或多个侧面元辐射体的射束锥中心在所述雷达传感器之外相对所述印刷电路板上的垂线倾斜大于45°且至少接近90°的角度实现。
按进一步方案，所述侧面元辐射体实施为缝隙天线。
按进一步方案，具有至少两个发射天线和/或两个接收天线，所述至少两个发射天线和/或两个接收天线的射束锥中心在所述雷达传感器之外相对印刷电路板上的垂线倾斜大于45°的角度，并且从垂直于印刷电路板的方向看，所述至少两个发射天线和/或两个接收天线的相位中心分别相互偏移，其中，在所述信号处理器中，借助不同组合的发射天线和接收天线的接收信号的相位，在垂直于印刷电路板方向上估算出目标的角度位置，对于所述发射天线和接收天线的组合，采用具有偏移的相位中心的至少两个所述发射天线和/或两个所述接收天线。
按进一步方案，所述相位中心在垂直于所述印刷电路板的方向上的偏移通过下列措施中的至少一项实现：
在两个印刷电路板面上，具有至少一个被转向的正面元辐射体或侧面元辐射体，
在一个印刷电路板面上，具有至少一个侧面元辐射体，且在另一个印刷电路板面上具有至少一个被转向的正面元辐射体，
在仅一个印刷电路板面上，不仅具有至少一个侧面元辐射体，而且具有至少一个被转向的正面元辐射体，所述正面元辐射体的相位中心位于所述印刷电路板的上方或下方，
在仅一个印刷电路板面上，具有至少一个被转向的正面元辐射体，其中，转向借助波导管或不同的进行反射的表面以如下方式设计，即：在垂直于所述印刷电路板的方向上产生不同的相位中心。
按进一步方案，在所述雷达传感器中，具有仅一个发射天线和一个接收天线，所述一个发射天线和一个接收天线的射束锥中心在所述雷达传感器之外相对所述印刷电路板上垂线的倾斜大于45°的角度，并且在所述雷达传感器中，在信号处理器中在进行预定的目标假设的情况下，能够从至少一个测量变量的数值和/或时间曲线中在垂直于所述印刷电路板的方向上估算出目标的角度位置。
按进一步方案，分别具有至少一个接收天线，所述接收天线的射束锥中心在所述雷达传感器之外相对印刷电路板上的垂线倾斜最大为45°或大于45°的角度，所述接收天线的探测区域重叠，并且在重叠区域内通过信号或参数的振幅比较和/或相位比较，能够进行目标的角度估算和/或在角度估算时避免出现多值性，所述信号或变量从所述天线的接收信号中导出或与所述接收信号对应。
按进一步方案，所述雷达传感器关于所述雷达传感器自身正面地进行侦测，也就是说与雷达传感器在机动车中的装配面相对地进行侦测，以及侧面地进行侦测。
按进一步方案，一方面所述正面探测区域和所述侧面探测区域交接或重叠，并且另一方面对于所述正面探测区域具有多个发射天线和/或多个接收天线，由此，能够在所述正面探测区域内直接测定目标的方位角。
按进一步方案，通过在印刷电路板正面上设置的、以印制结构构成的元辐射体能实现具有正面探测区域的至少一个发射天线和一个接收天线，并且通过在印刷电路板背面边缘上设置的以印制结构构成的元辐射体通过在金属或金属化的、平面或弯曲的表面上的转向能实现具有侧面探测区域的至少一个发射天线和一个接收天线，其中，所述金属或金属化的、平面或者弯曲的表面实施为结构性内部件的一部分。
按进一步方案，通过在印刷电路板正面上设置的、以印制结构构成的元辐射体能实现具有正面探测区域的至少一个发射天线和一个接收天线，并且通过在印刷电路板背面边缘上设置的以印制结构构成的元辐射体通过在金属或金属化的、平面或弯曲的表面上的转向能实现具有侧面探测区域的至少一个发射天线和一个接收天线，其中，所述金属或金属化的、平面或者弯曲的表面实施为结构性内部件的一部分。
按进一步方案，为了实现关于汽车的换道辅助，所述雷达传感器向后方和向侧面进行侦测。
按进一步方案，在一个印刷电路板的正面上具有至少一个侧面元辐射体，且在印刷电路板的背面上具有至少一个被转向的正面元辐射体。
附图说明
在图1中在中间示出雷达传感器的第一实施方式的水平剖面图，在上面和下面示出该传感器的高频印刷电路板的正面和背面。
图2以从上方看的视图示出雷达传感器的两个探测区域。
图3以从上方看的视图示出用于执行换道辅助的两个雷达传感器在汽车内的安装位置和探测区域。
在图4中示出用于在正面和侧面侦测的天线的、关于方位角的双向天线图。
在图5中在中间示出雷达传感器的第二实施方式的水平剖面图，在上面和下面示出该传感器的高频印刷电路板的正面和背面。
在图6中在中间示出雷达传感器的第三实施方式的水平剖面图，在上面和下面示出该传感器的高频印刷电路板的正面和背面。
在图7中在中间示出雷达传感器的第四实施方式的水平剖面图，在上面和下面示出该传感器的高频印刷电路板的正面和背面。
图8示出对于图7的设置在关于印刷电路板平面的方位角为αAz时，在侧面侦测的接收天线的相位中心和远距离的点状目标间的不同行程长度。
具体实施方式
现在根据雷达传感器及其天线的实现的示例性的实施方式阐述本发明。
在图1中在中间示出雷达传感器的水平剖面。该传感器在正面及侧面被一塑料外壳1.1包围，雷达波尽可能不受阻碍和不受影响地通过所述塑料外壳。传感器在背面具有一个罩盖1.2。从前面看，位于塑料外壳和罩盖之间的是一块包含高频组件、也就是说在雷达频率(比如在24GHz范围内)下工作的组件的印刷电路板1.3；接着是由金属或金属化塑料制成的内部支承件1.4，其用于作为结构性支承的部件和用于印刷电路板的屏蔽；最后是用于低频组件、尤其是用于数字信号分析处理的印刷电路板1.5。
在高频印刷电路板1.3的在图1上方所示的正面及其背面(参见图1下方)是用于辐射发射信号的发射天线，以及用于接收在目标上反射的发射信号的接收天线。发射天线和接收天线以印制结构构造为贴片天线。位于印刷电路板正面的发射天线TXF0和接收天线RXF0-7用于探测传感器前方的区域；图2以从上方看的视图示出传感器2.1的该处用F标明的正面的探测区域。每个单独的矩形状的贴片表示一个发射或接收单个元件，以下也称为元辐射体(Elementarstrahler)，且具有非常宽的射束锥，射束锥的中心与印刷电路板垂直。由于在印刷电路板正面的这些天线仅由垂直的贴片列(也就是说8个上下重叠设置的贴片)构成，其射束锥在方位角上(即水平方向上)与每个单独的贴片的射束锥一样宽，并且处于相对于在印刷电路板上的垂线成-75°到75°范围内。在仰角(即垂直线)上，由8个上下重叠设置的贴片得到相对在印刷电路板上的垂线大约-10c到+10°的较窄的探测区域。通过具有8个在水平方向上等距离的接收天线，可在信号处理器中借助离散傅立叶变换(DFT)进行数字的射束整形，并且由此在传感器前方的探测区域F内精确地确定目标的方位角，并且在不同的方位角的情况下仅通过不同的方位角单独地区分各目标。
除了用于生成和处理高频信号的器件1.31外，在印刷电路板背面(参见图1下方)还有发射天线TXS及接收天线RXS的四个分别上下叠置设置的贴片。这些贴片的辐射通过在内部支承件1.4上的金属或金属化表面1.41朝侧面转向，使得天线TXS及RXS生成在图2所示的侧面的探测区域S，该区域相对印刷电路板平面有一个方位角大约为-50°到+50°的探测区域。仅通过在RXS中在某一时刻接收的信号，只能说明在该探测区域内是否存在目标，但无法确定该目标的方位角，并且也不能通过方位角单独地区分各目标。只能通过其它测量值如距离、径向相对速度和/或在假设确定的目标的情况下通过测量值的时间变化曲线来进行区分；后者也可用于确定角度，对此将在后面进一步加以阐述。
所述雷达传感器例如用于执行换道辅助，当在相邻车道上有在变道情况下必须被注意的另一辆汽车时，该换道辅助会向驾驶员显示或用设置的闪光信号灯对驾驶员进行警告，从而尤其避免由于迫使所述另外的车辆自身进行紧急制动或不受控制地进行变道所造成的事故和危险情形。对于这种驾驶员辅助功能——如图3中的从上方看视图示出的那样——在汽车3.1上在左后方和右后方(特别是在塑料减震器后方)安装了两个按图1所示的、上面已介绍的雷达传感器3.2及3.3；在此，安装角度相对汽车纵向倾斜60°(也就是说相对车尾倾斜30°)。图3中示出两个传感器的探测区域。两个相对于相应传感器在正面的探测区域FL和FR用于探测位于自己的汽车后或在汽车车尾高度上的车辆。在此探测区域内，可借助经过离散傅立叶变换的数字射束整形，通过8个接收天线RXF0-7的接收信号如此精确地确定各目标的方位角，以便甚至在约80米距离处就可正确地将汽车与车道相匹配；如果在此距离中探测到一辆以较高相对速度驶近的汽车，那么只有当驶近汽车处于相邻车道时(而不是例如在三车道的路面上在自己的车辆旁边的两个车道时)，才与换道辅助相关。
但探测区域FL和FR没有覆盖汽车旁的整个空间，尤其没有覆盖中间及前端区域；这特别是在自己的汽车缓慢超越另一车辆、尤其是较小车辆并且该较小车辆位于侧面后视镜的视野盲区时是危险的。对此需要相对于相应传感器在侧面的探测区域SL和SR。如果不是根据本发明通过设置在高频印刷电路板上的元辐射体的射束方向的转向建立侧面的探测区域，对此必需的是，要么是各一个具有不同的安装定向第二传感器，要么是额外的、不同定向的高频印刷电路板，这都会显著增加系统成本。
两个相对于相应传感器在正面的探测区域FL和FR内的角度测量精确性向外(即随相对于传感器上的垂线的角度值的增大)逐渐降低；这主要是由于相邻接收天线RXF0-7的接收信号相位差与方位角之间非线性的、向外变得越来越平的投影，为此由于天线增益变小而产生向外递减的信噪比。因此，分别在FL和FR的在外面朝向汽车侧的区域内还要附加进行角度估算，所述角度估算通过振幅与天线RXS的在相应侧面探测区域SL及SR内接收到的电平的比较来实现。在图4关于方位角示出用于正面天线(TXF0/RXF0-7)和侧面天线(TXS/RXS)的双向天线图(即用于发射和接收)；通过振幅比较而进行的附加的角度估算例如在相对于传感器60°到75°(对于左传感器)以及-60°到-75°(对于右传感器)的方位角范围内实施，在所述方位角范围内，正面天线的电平急剧下降，而侧面天线的电平增加，由此电平比例产生强烈变化。对正面天线的电平，合乎目的地，使用在数字射束整形后产生的电平，而不是接收天线的单个电平(使用接收天线的单个电平在多目标情况下可能导致错误)。除了振幅比较外，还可计算来自正面和侧面的接收天线的接收信号的相位关系，其中，于是应考虑到这些天线相位中心的水平距离。
通过以上所述的措施，在侧面向前可估算直至分别15°的目标方位角。在探测区域SL和SR(即在区域FL和FR之外)进一步指向前的部分中，不能从某一时刻接收到的信号进行一般的方位角估算；只有在对确定的目标进行假设的情况下，才能从测量变量的数值和/或时间曲线中进行方位角估算，现在通过一些例子来进行阐述：
-如果一个与自己的汽车平行运动的目标从前方进入侧面探测区域SL和SR，那么关于传感器的方位角数值减小，由此，所属的双向天线的增益在其超过最大值后重新回落之前首先是增加的(参见图4)。如果从这一假设以及大约恒定的反射率(即恒定的反射横截面)出发，并且还要考虑到可能变化的目标距离的影响(直接测量的距离)，那么可通过将测得电平与天线增益关于方位角的已知曲线比较，粗略推算出该方位角。
-一个静止目标相对于传感器的径向相对速度取决于方位角和汽车的自身速度。由于汽车自身速度已知，因此在假设该相对速度属于一个静止目标的情况下，可从通过传感器测得的径向相对速度推断出该目标的方位角。原则上，对一个假设的静止目标，可应用各种不同的SAR方法(SAR=合成孔径雷达)来确定目标的方位角。
-由传感器测得的、与自己的汽车平行地以恒定绝对速度运动的车辆的径向相对速度，取决于该车辆的方位角以及在自身速度和该车辆的绝对速度之间的差值。由于另一车辆的方位角和绝对速度是两个未知数，所以对于这样的假设，必须分析计算在一定时间段内测得的径向相对速度的曲线分布。
为了实现设置在高频印刷电路板上的元辐射体的侧面辐射，迄今为止采用在相应成型的金属表面上的转向。然而，对此还有其他可能性可供选择；下面将举例详细说明：
-设置在高频印刷电路板上的元辐射体的辐射路径借助波导管结构向侧面转向。对此，图5显示了雷达传感器的一个水平剖面，该雷达传感器带有在内部支承件5.4中实现的波导管5.41；相对于按图1所示的初始的结构形式，所述高频印刷电路板(正面如图5上方所示，底面如图5下方所示)仅通过向侧面转向的天线TXS和RXS的贴片的位置略微缩进而改变。
-设置在高频印刷电路板上的元辐射体辐射路径借助于相应成形的、由介电材料构成的结构向侧面转向，其中，这些介电材料组成的结构优选设置在元辐射体上方，并且是塑料外壳的一部分。这种方法也可与通过反射平面或波导管结构进行的转向结合组合使用。
-使用印制结构的元辐射体，其射束锥中心不需要附加措施就已位于印刷电路板侧面。对此，比如可在印刷电路板的边缘使用末端合适成形的短截线，这些短截线作为缝隙辐射器发挥作用。图6在上方显示了这种带有朝向边缘的短截线的布置的高频印刷电路版6.3的正面，这些短截线实现了在侧面辐射的天线TXS及RXS。因此，一方面既不需要转向措施(参见根据图6中间设置的截面)，并且另一方面也不需要如在图6下方所示的在印刷电路板背面上的贴片。
迄今为止看到的布置，因为只有一个发射天线和一个接收天线，所以仅在侧面探测区域内不可能从在某一时刻接收到的信号中确定方位角。为了克服这一缺点，需要多个侧向定向的发射天线和/或多个侧向定向的接收天线，从垂直于印刷电路板的方向上看，这些天线的相位中心分别相互偏移；于是，当把具有偏移相位中心的多个这类侧向发射天线和/或多个这类侧向接收天线用于发射和接收天线的不同组合时，可从不同组合的这些发射和接收天线接收信号的相位中估算出方位角。
现在以图7所示的例子对此进行阐述。在图7上方所示的高频印刷电路板7.3的正面上在边缘处有用于在侧面进行辐射的接收天线RXS0的贴片，且在图7所示的高频印刷电路板底面上有用于在侧面进行辐射的发射天线TXS0和在侧面进行辐射的第二接收天线RXS1的贴片。为了使这些贴片的辐射侧向地转向，再次使用反射表面；如按图7在中间示出的结构的剖面，用于印刷电路板底面的天线TXS0和RXS1的反射表面再次作为由金属或金属化塑料制成的内部支承件7.4的部分7.41来实现，并且对于印刷电路板上侧的天线RXS0，通过一个塑料外壳7.1的在贴片上方相应构造的、局部金属化的形状7.11来实现。
因此，两个接收天线RXS0和RXS1的相位中心在垂直于印刷电路板的方向上相互偏移一个尺寸d；在图8中示出天线的相位中心的垂直投影。此外，图8还示出关于印刷电路板平面的方位角为αAz时，向远距离点状目标的辐射路径(目标距离如此遥远，使得可假设辐射路径是平行的，也就是说，目标处于天线设置的远辐射区内)。目标到接收天线RXS0的射束长度比到接收天线RXS1的射束长度长的值为△r=sin(αAz)·d。因此，RXS1的接收信号相位比RXS0的接收信号相位要超前，其中，λ是所使用雷达频率的波长(在24GHz时，波长约为12.5毫米)。因此，可从两个接收天线RXS0和RXS1的接收信号间的所测得的相位差来确定所属目标的方位角。但在此必须考虑到的是，只能测量相位以及因此相位差直到2π的未知的整数倍数，因而只有当在整个探测区域上的相位差小于2π时，在方位角确定上才不会产生多值性；由此可得出：对于在此假设的、相对印刷电路板平面成-50°到+50°角的探测区域，要求d＜π·λ/(2π·sin(50°))=0.65·λ必须成立。
考虑到根据图7的布置，对两个在侧面进行侦测的天线的相位中心关于垂直于印刷电路板的方向的偏移以如下方式实现，即：位于印刷电路板下面和上面的贴片的辐射在反射表面上朝侧面转向。但两个天线相位中心的这种偏移也可通过其它方法实现；下面举例说明：
-在印刷电路板正面上在边缘处有缝隙天线，在背面存在具有在反射表面上的射束转向的贴片，
-在印刷电路板正面上不仅具有在边缘处的缝隙天线，也具有带有在反射表面上的射束转向的贴片，其相位中心在印刷电路板上方，
-在印刷电路板背面具有贴片。这些贴片的射束转向借助波导管或不同的反射表面以如下方式实现，即：在垂直于印刷电路板的方向上产生两个不同的相位中心。
应该注意到，原则上一方面在垂直于印刷电路板方向上可实现用于相位中心的多于两个的不同平面，而另一方面同时多个发射天线和多个接收天线是可能的，这些天线分别具有在垂直于印刷电路板方向上偏移的相位中心。由此，可更精确确定目标的方位角，并可以仅通过相位角就对多个目标进行区分。
在到目前为止的布置中，每个天线仅用于发射或接收。但借助于合适的高频组件(比如印制环形耦合器)，也可使一个天线既用于发射又用于接收；如果实现了这样一个向侧面进行侦测的共用的发射和接收天线，则在给定结构空间中可将上述天线做成以上所描述的布置的两倍那么高，这将导致仰角方向上更高的射束集聚。

Claims (19)

1.用于机动车的周围环境探测的雷达传感器，包括：
发射器，用于通过多个发射天线辐射发射信号；
接收器，用于通过多个接收天线接收在目标上反射的发射信号；
信号处理器，用于处理接收的信号，
其中具有多个发射天线和多个接收天线，所述多个发射天线和多个接收天线分别包含至少一个设置在平面的印刷电路板的正面或背面上的进行发射或者接收的单位元件，以下称为元辐射体，
具有至少一个分别包含至少一个其射束锥中心在所述雷达传感器之外相对于所述印刷电路板上的垂线倾斜最多45°的元辐射体的发射天线和接收天线，所述元辐射体设置在平面的印刷电路板上，
具有至少一个分别包含至少一个其射束锥中心在所述雷达传感器之外相对于所述印刷电路板上的垂线倾斜大于45°的角度的元辐射体的发射天线和接收天线，所述元辐射体设置在平面的印刷电路板上；
其特征在于，
一个或多个元辐射体的射束锥中心在所述雷达传感器之外相对所述印刷电路板上的垂线倾斜大于45°的角度由此实现，即：使用以印制结构构造的元辐射体，其射束锥中心在没有附加的器件情况下至少近似垂直于印刷电路板，并且因此其以下称为正面元辐射体，并且为了使正面元辐射体的射束锥中心倾斜，并且因此为了实现侧向发射的元辐射体，采用下述措施至少之一：
-将所述正面元辐射体的辐射路径借助进行反射的、金属或金属化的、平面的或弯曲的、在所述正面元辐射体上方的表面来进行转向，所述表面作为内部支承件的或外壳的一部分来实现，
-将正面元辐射体的辐射路径借助波导管结构进行转向，
-将正面元辐射体的辐射路径借助由介电材料合适成型的、在所述正面元辐射体上方的结构来进行转向，其中所述介电材料是塑料外壳的部分。
2.根据权利要求1所述的雷达传感器，其特征在于，所述正面元辐射体靠近所述印刷电路板的边缘设置。
3.根据权利要求1或2所述的雷达传感器，其特征在于，所述雷达传感器具有至少一个其射束锥中心在雷达传感器之外至少近似平行于印刷电路板或近似垂直于印刷电路板的元辐射体。
4.根据权利要求1或2所述的雷达传感器，其特征在于，所述元辐射体构造为印制结构。
5.根据权利要求4所述的雷达传感器，其特征在于，所述元辐射体构造为贴片。
6.根据权利要求1或2所述的雷达传感器，其特征在于，使用至少一个既用于发射也用于接收的天线。
7.根据权利要求1或2所述的雷达传感器，其特征在于，另外的一个或多个元辐射体的射束锥中心在所述雷达传感器之外相对所述印刷电路板上的垂线倾斜大于45°的角度由此实现，即：使用以印制结构构造的元辐射体，其射束锥中心在没有附加的器件情况下位于印刷电路板的侧面，且因此位于印刷电路板的侧面的元辐射体以下被称为侧面元辐射体，其中，所述侧面元辐射体设置在印刷电路板的边缘上。
8.根据权利要求7所述的雷达传感器，其特征在于，一个或多个侧面元辐射体的射束锥中心在所述雷达传感器之外相对所述印刷电路板上的垂线倾斜大于45°且至少接近90°的角度实现。
9.根据权利要求7所述的雷达传感器，其特征在于，所述侧面元辐射体实施为缝隙天线。
10.根据权利要求7所述的雷达传感器，其特征在于，具有至少两个发射天线和/或两个接收天线，所述至少两个发射天线和/或两个接收天线的射束锥中心在所述雷达传感器之外相对印刷电路板上的垂线倾斜大于45°的角度，并且从垂直于印刷电路板的方向看，所述至少两个发射天线和/或两个接收天线的相位中心分别相互偏移，其中，在所述信号处理器中，借助不同组合的发射天线和接收天线的接收信号的相位，在垂直于印刷电路板方向上估算出目标的角度位置，对于所述发射天线和接收天线的组合，采用具有偏移的相位中心的至少两个所述发射天线和/或两个所述接收天线。
11.根据权利要求10所述的雷达传感器，其特征在于，所述相位中心在垂直于所述印刷电路板的方向上的偏移通过下列措施中的至少一项实现：
在两个印刷电路板面上，具有至少一个被转向的正面元辐射体或侧面元辐射体，
在一个印刷电路板面上，具有至少一个侧面元辐射体，且在另一个印刷电路板面上具有至少一个被转向的正面元辐射体，
在仅一个印刷电路板面上，不仅具有至少一个侧面元辐射体，而且具有至少一个被转向的正面元辐射体，所述正面元辐射体的相位中心位于所述印刷电路板的上方或下方，
在仅一个印刷电路板面上，具有至少一个被转向的正面元辐射体，其中，转向借助波导管或不同的进行反射的表面以如下方式设计，即：在垂直于所述印刷电路板的方向上产生不同的相位中心。
12.根据权利要求1或2所述的雷达传感器，在所述雷达传感器中，具有仅一个发射天线和一个接收天线，所述一个发射天线和一个接收天线的射束锥中心在所述雷达传感器之外相对所述印刷电路板上垂线的倾斜大于45°的角度，并且在所述雷达传感器中，在信号处理器中在进行预定的目标假设的情况下，能够从至少一个测量变量的数值和/或时间曲线中在垂直于所述印刷电路板的方向上估算出目标的角度位置。
13.根据权利要求1或2所述的雷达传感器，其特征在于，分别具有至少一个接收天线，所述接收天线的射束锥中心在所述雷达传感器之外相对印刷电路板上的垂线倾斜最大为45°或大于45°的角度，所述接收天线的探测区域重叠，并且在重叠区域内通过信号或参数的振幅比较和/或相位比较，能够进行目标的角度估算和/或在角度估算时避免出现多值性，所述信号或变量从所述天线的接收信号中导出或与所述接收信号对应。
14.根据权利要求1或2所述的雷达传感器，其特征在于，所述雷达传感器关于所述雷达传感器自身正面地进行侦测，也就是说与雷达传感器在机动车中的装配面相对地进行侦测，以及侧面地进行侦测。
15.根据权利要求14所述的雷达传感器，其特征在于，一方面所述正面探测区域和所述侧面探测区域交接或重叠，并且另一方面对于所述正面探测区域具有多个发射天线和/或多个接收天线，由此，能够在所述正面探测区域内直接测定目标的方位角。
16.根据权利要求14所述的雷达传感器，其特征在于，通过在印刷电路板正面上设置的、以印制结构构成的元辐射体能实现具有正面探测区域的至少一个发射天线和一个接收天线，并且通过在印刷电路板背面边缘上设置的以印制结构构成的元辐射体通过在金属或金属化的、平面或弯曲的表面上的转向能实现具有侧面探测区域的至少一个发射天线和一个接收天线，其中，所述金属或金属化的、平面或者弯曲的表面实施为结构性内部件的一部分。
17.根据权利要求15所述的雷达传感器，其特征在于，通过在印刷电路板正面上设置的、以印制结构构成的元辐射体能实现具有正面探测区域的至少一个发射天线和一个接收天线，并且通过在印刷电路板背面边缘上设置的以印制结构构成的元辐射体通过在金属或金属化的、平面或弯曲的表面上的转向能实现具有侧面探测区域的至少一个发射天线和一个接收天线，其中，所述金属或金属化的、平面或者弯曲的表面实施为结构性内部件的一部分。
18.根据权利要求1或2所述的雷达传感器，其特征在于，为了实现关于汽车的换道辅助，所述雷达传感器向后方和向侧面进行侦测。
19.根据权利要求11所述的雷达传感器，其特征在于，在一个印刷电路板的正面上具有至少一个侧面元辐射体，且在印刷电路板的背面上具有至少一个被转向的正面元辐射体。
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