CN107076831B - 雷达传感器 - Google Patents
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- 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
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- 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
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- 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
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- 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
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- 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
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Abstract
本发明涉及一种雷达传感器(10),包括信号产生设备(11、18、19、20),所述信号产生设备产生发射信号(16)作为要发射的雷达信号,所述雷达传感器包括信号接收设备(12、13、17、19、20),以用于接收并且用于处理作为反射的雷达信号的接收信号(14、15),其中接收信号(14、15)利用预测方法可处理,以便确定预测的信号,借助所述预测的信号可比较接收信号,以便排除与其偏离的干扰。
Description
技术领域
本发明涉及一种雷达传感器、如尤其是用于机动车的雷达传感器。
背景技术
在机动车中总是更经常地使用雷达传感器。这样的雷达传感器例如在驾驶员辅助系统中使用,以便已经在较大的距离可靠识别例如迎面来的车辆或接近的车辆和可以尽可能准确地确定其位置和速度或相对速度和方位角。也使用雷达传感器,以便监控机动车的较近的环境。
目前使用产生输出信号的雷达传感器,所述输出信号被发射并且对在物体上反射的输出信号作为输入信号接收并且处理。所述输出信号在此是具有预定的持续时间和频率的一系列单个信号,也称为“Burst(突发)”,其从单个信号至单个信号在频率方面变化。
所述雷达传感器例如利用所谓的LFMSK发射方法(线性频率调制偏移键控Linear-Frequency-Modulated-Shift-Keying)运行。在该方法中交错地发射三个单个信号A、B、C。在此对于分别大约25μs的持续时间(突发)发射恒定的频率,所述频率然后对于所述三个单个信号中的每个线性地改变。在上升的频率时称为上升啁啾并且在下降的频率时称为下降啁啾。除了上升啁啾和下降啁啾之外也使用单频率的单个信号,即,所谓的多普勒线性调频信号。三个信号类型在此交替地使用。
基于对于汽车的使用允许的频域的限定和这样的雷达传感器的同时的增加的使用,装备有雷达传感器的车辆的相互干扰的可能性升高。在这样的干扰的情况中,接收机侧的雷达传感器(受害者)附加于真正的发射信号的反射也接收外来的雷达传感器(干扰者)的发射信号。
这导致错误评估,如果干扰器的发射信号作为本身的雷达传感器的反射的发射信号看待的话。
发明内容
因此本发明的任务是,提供一种雷达传感器,其相对于现有技术被改善。也应该实现一种用于运行这样的雷达传感器的对应的方法。
本发明的任务利用本发明特征解决。
本发明的一个实施例涉及一种雷达传感器,所述雷达传感器包括信号产生设备,所述信号产生设备产生发射信号作为要发射的雷达信号,所述雷达传感器包括信号接收设备,用于接收并且用于处理接收信号作为反射的雷达信号,其中,接收信号利用预测方法可处理,以便确定预测的信号,借助所述预测的信号可比较接收信号,以便减少或排除与其偏离的干扰。
本发明的任务关于方法利用本发明的特征解决。
本发明的一个实施例涉及一种用于运行雷达传感器、尤其是上述的按照本发明的雷达传感器的方法,其中,雷达传感器设有信号产生设备,所述信号产生设备产生作为要发射的雷达信号的发射信号,雷达传感器设有信号接收设备,以用于接收并且用于处理作为被反射的雷达信号的接收信号,其中,接收信号利用预测方法被处理,以便确定预测的信号,借助所述预测的信号比较接收信号,以便减少或排除与其偏离的干扰。由此识别干扰并且借助预测确定没有干扰时期待的信号。
特别有利的是,接收信号或混合的接收信号在时域中构成被预测的类正弦的信号。由此可以良好地接近期待的预测信号。
在此特别有利的是,进行线性预测的编码。由此预测可简单地实施,因为其可利用简单的计算实施,这降低计算容量并且预测简单地指向未来。
在此特别有利的是,通过对预测误差的评估探测接收信号或混合的接收信号中基于干涉的不连续性。这样可以在预测误差的显著的上升时推断出接收信号的不连续性,这能够推断出基于干涉的干扰。
特别有利的是,将预测误差用作为测试参数。这样可以简单进行干扰的存在。
也有利的是,可选地附加于因果的前向预测也采用非因果的后向预测。由此如果使用多于一个用于预测的方法,可以改善预测。
也有利的是,由两个预测结果的加权的平均确定待预测的振幅值。这样使用的方法可以相对于彼此加权,以便得到优化的预测结果。
附图说明
在从属权利要求和后续附图中说明本发明有利的进一步构成。其中:
图1示出包括发射信号的图表;
图2示出雷达传感器的示意图;
图3示出信号变化曲线的图表;
图4示出信号变化曲线的图表;
图5示出干扰信号的图表;以及
图6示出在干涉减少之后信号变化曲线的图表。
具体实施方式
图1示出用于解释发射信号的图表1,所述发射信号包括一系列单个信号。所述图表示出作为时间t的函数的发射信号的频率f(t)。单个信号f0 A,f0 B,f0 C,f1 A,f1 B,f1 C等形成一个序列,所述序列作为发射信号发射。如果雷达传感器利用所谓的LFMSK发射方法(线性频率调制偏移键控)运行,则嵌套地发射三个单个信号A、B、C。在此对于分别大约25μs(突发)的持续时间发射恒定的频率,所述频率然后对于所述三个单个信号中的每个线性地改变。在此可看出,信号f0 A,f0 B,f0 C的频率升高,其中,在信号f1 A,f1 B,f1 C的下一个序列中频率再次升高,其中频率f1 A大于频率f0 A。在上升的频率时称为上升啁啾并且在下降的频率时称为下降啁啾。除了上升啁啾和下降啁啾之外也使用单频率的单个信号,即,所谓的多普勒啁啾。在此交替地使用三个信号类型。在图1的示例中只示出上升啁啾。但也可以使用下降啁啾或多普勒啁啾。
图2在示意图中示出雷达传感器10,所述雷达传感器具有发射天线11和两个接收天线12、13。反射的、接收的信号14、15在接收机17中与发射机18的发射信号16混合并且转换到频域中。该信号21在HF(高频)元件19中被混合并且传输给数字的信号处理器20以用于进一步评估。数字的信号处理器20将用于控制雷达传感器的控制信号22传输给HF元件。亦即雷达传感器10在此具有信号产生设备,其具有发射机16、HF元件19和信号处理器20。雷达传感器10在此也具有信号接收设备,所述信号接收设备具有接收机17、HF元件19和信号处理器20。
接收的信号14、15在此是相关的目标的反射还有不希望的目标的反射的叠加,不希望的目标的反射也在雷达技术中称为杂波,即,由底部上的反射、边缘结构上的反射和由于下雨引起的所谓的干扰回波。为了探测相关的目标使用OS-CFAR-方法(有序统计常数恒虚警率Ordered Statistic-Constant False Alarm Rate)。在探测之后,对于相关的目标产生基本频率信号,其频率由目标的距离和其相对速度造成。在多普勒啁啾中频率仅依赖于相对速度。在频谱分量之间的相位差在基带中分别在两个斜坡之间同样通过相关的目标的距离和相对速度得出。通过解线性的方程组,可以由频率和该相位差确定目标对于每个测量周期的距离和相对速度。此外可以借助在两个接收天线之间的相位差在要评估的频率的位置上确定反射的信号的运行时间差并且因此确定入射角。
由这些信号可以必要时在使用其他信息的情况下确定原始目标参数,所述原始目标参数借助后置的处理阶段被采用以用于标识物体。作为其他的信息可以有利地考虑信号电平和/或生成的值的可靠性。
图3和4示出包括干扰的信号变化曲线30。图3示出在频率-时间-图表中的上升啁啾,其由CW(连续波)干扰器切割。CW干扰导致时间信号的幅值在两个信号的交点的区域中的脉冲状的上升31,参看图4。该也可以延伸经过多个测量点的上升31引起在频域中的噪声的宽带的抬升。相关的目标的反射由此被掩蔽并且后来不再能被探测到。
在此CW干扰是干扰的示例。也会出现其他干扰。较复杂的干扰可以例如通过LFMCW(线性调频连续波)和FCSM(快速调频序列调制Fast Chirp Sequence Modulation)引起。在这些干扰中,在频率变化过程中产生受害者的发射信号和干扰器信号之间的增加的交点。
因此可以在多个时间窗中接收幅值上升形式的干扰,其这样提高噪声水平,使得探测相关的目标在没有校正接收信号的情况下变得困难。
因为接收天线由于制造偏差和不对称的联结经历不同的天线图,所以在两个接收天线中,干扰到有效信号上的作用也可以不同。在一种示例的情况中,两个天线中只一个被干扰。此外可以分别按照干扰涉及只单独的或所有三个A、B和C斜坡。这可以归因于,三个斜坡具有不同的频率并且在时间上错开,参看图1。这样例如在具有相同的多普勒频率的窄带的多普勒干扰器中在斜坡A频率的区域中只强烈干扰该斜坡。另两个斜坡的干扰由高次谐波干扰器造成并且可以经常基于小的干扰强度不被探测。
为了能够实现相关的目标在接收频谱中的反射的无误差的探测,必须探测并且消除干扰。
因为足够的是,将所述干扰在所述六个斜坡的只一个中在分别一个接收天线的三个斜坡中探测,所以也可以纠正信号,在所述信号中干扰不被直接测量。
因为在混合阶段之后每个要探测的目标物体的时间信号大致对应于正弦函数或类正弦的信号,例如作为正弦信号的叠加,所以构成照亮的目标的所有反射的叠加的接收信号只包括谐波的振荡。谐波的振荡的该波形能够在使用线性的预测器的情况下非常良好地被预测。
线性的预测的编码LPC(Linear Predictive Coding)的方法借助以前的信号值预测信号的未来的变化过程。在此由在先的采样值形成线性组合。
因而对于在位置k上预测的值依据:
其中ai构成预测系数,其中i=1至n。
这些预测系数借助相关矩阵确定。为此由以前的信号值形成关联,所述关联包含信号特性的信息。借助该信号特性,可以于是借助最后的值预测信号的未来的变化过程。
基于干涉在接收信号中的不连续性可以通过评估预测误差或LPC预测误差探测。该预测误差因此用作为测试参数。
在干扰的情况中基于不连续性产生可确定的提高的预测误差。
在通过线性的预测的探测中,预测研究的啁啾的整个信号变化曲线。所述估计的值然后与实际的信号值比较。借助适合的阈值可以这样导出探测准则,以便确定不连续性。
在信号中的脉冲形的干扰随后借助以前的不受干扰的信号值修复。该修复通过对预测的过程的推断进行,而没有干扰的影响。
为了阻止幅值跳跃,可以可选地附加于因果的前向预测也采用非因果的后向预测。预测的振幅值应该随后由两个预测结果的加权的平均确定。
在图5和6中可看出上述的干涉降低的结果。
图5示出类正弦的信号变化曲线40,其包括基于干扰的不连续的脉冲状的提高41。在正弦状的部分的预测和确定之后,在图6的纠正的信号50中的干扰不再可看出。错误的减少也导致噪声水平的降低。在接收信号的频域中的掩蔽的相关的目标可以现在在使用纠正的信号的情况下探测到。
附图标记列表
1 图表
10 雷达传感器
11 发射天线
12 接收天线
13 接收天线
14 信号
15 信号
16 发射信号
17 接收机
18 发射机
19 HF元件
20 信号处理器
21 信号
22 控制信号
30 信号变化曲线
31 上升
40 信号变化曲线
41 提高
50 纠正的信号
Claims (8)
1.雷达传感器(10),所述雷达传感器包括信号产生设备(18、19、20),所述信号产生设备产生发射信号(16)作为要发射的雷达信号,所述雷达传感器包括信号接收设备(17、19、20),所述信号接收设备用于接收并且用于处理作为反射的雷达信号的接收信号(14、15),其中,接收信号具有信号变化曲线,接收信号(14、15)能够利用预测方法处理,以便对于整个信号曲线确定预测的信号,借助所述预测的信号可比较接收信号,以便减少或排除与预测的信号偏离的干扰,其中,通过对预测误差的评估来探测在接收信号或在混合的接收信号中由于干涉引起的不连续性。
2.用于运行按照权利要求1所述的雷达传感器(10)的方法,其特征在于,雷达传感器(10)设有信号产生设备(18、19、20),所述信号产生设备产生发射信号(16)作为要发射的雷达信号,所述雷达传感器(10)设有信号接收设备(17、19、20),以用于接收并且用于处理作为反射的雷达信号的接收信号(14、15),接收信号具有信号变化曲线,其中,利用预测方法处理接收信号(14、15),以便对于整个信号变化曲线确定预测的信号,借助所述预测的信号比较接收信号,以便减少或排除与预测的信号偏离的干扰,其中,通过对预测误差的评估来探测在接收信号或在混合的接收信号中由于干涉引起的不连续性。
3.按照权利要求2所述的方法,其特征在于,接收信号(14、15)或混合的接收信号在时域中是被预测的类正弦的信号。
4.按照权利要求2或3所述的方法,其特征在于,进行线性预测的编码。
5.按照权利要求2或3所述的方法,其特征在于,将预测误差用作为测试参数。
7.按照权利要求2或3所述的方法,其特征在于,可选地附加于因果的前向预测也采用非因果的后向预测。
8.按照权利要求7所述的方法,其特征在于,由两个预测结果的加权的平均确定待预测的振幅值。
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