CN1894596A - 具有两个或多个传感器的系统 - Google Patents

具有两个或多个传感器的系统 Download PDF

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CN1894596A
CN1894596A CNA2004800379417A CN200480037941A CN1894596A CN 1894596 A CN1894596 A CN 1894596A CN A2004800379417 A CNA2004800379417 A CN A2004800379417A CN 200480037941 A CN200480037941 A CN 200480037941A CN 1894596 A CN1894596 A CN 1894596A
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radar
signal
sensors
sensor
radar sensor
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托马斯·布罗舍
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Robert Bosch GmbH
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Robert Bosch 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
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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
    • G01S13/02—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
    • G01S13/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. P.S.K. signals
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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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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    • G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
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    • G01S13/46—Indirect determination of position data
    • G01S2013/466—Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
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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
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    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals

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  • 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)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

为了得到一个具有两个或多个传感器的系统，其中每个传感器具有用于信号的一个发送器及一个接收器，及一个传感器可接收另一传感器的交叉反射信号，其中这些传感器也可接收及处理各个其它传感器的反射信号而无相互干扰并且其中这些传感器彼此去耦，本发明提出：这些传感器在接收工作中通过发送及接收信号的时间延迟彼此在时间上被分开。

Description

具有两个或多个传感器的系统
技术领域
本发明涉及具有两个或多个相关联的传感器的系统，其中每个传感器具有一个用于信号的发送器及至少一个接收器，一个传感器可接收另一传感器的交叉反射信号。
现有技术
雷达传感器主要使用在机动车技术中，用于例如在泊车时监测机动车相对一个固定的或运动的障碍如一个行人的距离，及此外通过一个相应的指示装置对机动车驾驶员通过光或声指示至障碍物的距离。并且同样例如在高速公路上快速行驶或在堵塞交通中慢速行驶时监测与在前或在后行驶的交通参与者的距离。为此在车前部和/或车尾以及-为了监测机动车的侧向区域-在侧面分别设置一些雷达传感器，作为专业人员所公知的雷达系统的组成部分。该雷达系统可为一个同样公知的驾驶辅助系统的组成部分。
使用脉冲调制的雷达传感器以公知的方式设有一个脉冲发生器，一个带有发射天线的发送器，一个带有接收天线的接收器及一个电子求值单元。由发射天线发出的雷达脉冲在一个目标物体上被反射及通过接收天线回到接收器。在这里接收信号与脉冲发生器的参考信号相混合，由一个低通滤波器滤波及在A/D转换后由一个电子求值单元求值。因此可确定至目标物体的距离及该目标物体相对雷达传感器并由此相对机动车的相对速度。也可代替脉冲调制而使用其它的调制方法，例如FMCW，PSK，ASK，FSK，用伪噪音(PN)码的调制及其它方法或这些方法的组合。
如果一个机动车设有多个雷达传感器，则由一个雷达传感器发出的雷达信号可在目标上被反射及由另一雷达传感器的天线作为交叉反射信号接收。在此情况下它将引起干扰或与由该雷达传感器发射的雷达信号的自身反射信号的叠加。为了能分离不同传感器的信号，例如由DE 197 03 237 C1公开了：这些雷达信号分别在微波范围中被调制，以便能够这样地将自身反射信号或交叉反射信号借助其调制来分配给不同雷达传感器。此外由JP 07012928 A或由R.C.Dixon著的“Spread Spectrum Systems”(第2版，Wiley & Sons出版社，纽约，1984年)公开了用于抑制干扰信号及通道分离的所谓的伪噪音(PN)编码。在此，通过对于多个雷达传感器使用不同的码可以对其它各个雷达传感器的由一个雷达传感器的接收器接收的交叉反射信号求值。为了多个雷达传感器的去耦合也可对于这些雷达信号使用彼此正交的码。由EP 0 864 880公开了：多个雷达传感器交替地工作，以便由此使它们去耦合。在此情况下无论是自身反射信号、即由相应的雷达传感器自身的发送器发射的信号，还是其它雷达传感器的交叉反射信号被求值。由DE 197 11 467 C2公开了一个用于超声波传感器的类似方法。
这里被视为缺点的是：为了各个雷达传感器的去耦合及接收的自身反射信号及交叉反射信号彼此的分离，总是需要大的电路及控制技术上的成本。此外，通过雷达脉冲的调制可降低雷达传感器的能力。在例如根据EP 0 864 880的交替工作中，各个在发送侧关断的雷达传感器在关断状态下不能接收自身回波。
本发明的说明，任务，解决方案，优点
本发明的任务在于，给出一种具有两个或多个传感器的系统，其中这些传感器也可接收及求值其它各传感器的反射信号而无相互干扰以及其中这些传感器彼此去耦。
该任务将通过权利要求1中给出的特征来解决。
本发明的核心思想在于，在使用多个相关联的传感器时发送及接收工作彼此这样地在时间上协调及发节拍，以致一个系统的这些传感器的每个或各个配置的接收器的每个仅对于接收信号相对自身发送信号的时间延迟的确定的间隔接收及求值自身反射信号及交叉反射信号。在此情况下各个时间间隔应彼此不相交。它将以这样的方式来达到：适合每个传感器地、即不同地选择发送信号的重复频率fW的相位。所述的时间间隔涉及以一个速度、尤其以光速c运动的信号的双倍运行时间。
这出人意料地显示了，本发明能够以不同的方式被使用，以致根据本发明该系统可以是一个具有两个或多个相关联的雷达传感器的雷达系统，一个具有两个或多个相关联的光学传感器的光学系统或一个具有两个或多个相关联的超声波传感器的超声波系统。
根据一个优选的实施形式提出，该系统可以是一个具有两个或多个相关联的雷达传感器的雷达系统，其中每个雷达传感器具有用于一个调制的雷达信号的一个发送器及至少一个接收器，及一个雷达传感器可接收另一传感器的交叉反射信号，根据本发明这些雷达传感器在接收工作中通过发送及接收信号的时间延迟彼此被分开。
根据本发明的解决方案在于，在使用多个相关联的雷达传感器时发送及接收工作彼此这样地在时间上协调及发脉冲，以致一个雷达系统的这些雷达传感器的每个或各个配置的接收器的每个仅对于接收信号相对自身发送信号的时间延迟的确定的间隔接收及求值自身反射信号或交叉反射信号。在此情况下各个时间间隔应彼此不相交。它将以这样的方式来达到：适合每个雷达传感器地、即不同地选择发送信号的重复频率fW的相位。所述的时间间隔涉及以光速c运动的雷达信号的双倍运行时间。
因此可保证，在用于延迟的一个确定的间隔中总是仅仅这些雷达传感器中的一个接收自身发送器的反射雷达信号。在此情况下所有相关联的雷达传感器以重复频率fW连续地发送雷达信号(例如脉冲，PN码帧)及不会例如象EP O 864 880中提出的周期地关断。接收的不同雷达反射信号的分开、即交叉反射信号及自身反射信号的分析则可借助通常的信号求值方法或用于雷达脉冲的编码方法来实现。
此外本发明可在雷达系统上使用，这些雷达系统例如使用由PN码调制(例如借助PSK-，ASK-或FSK-调制)的载波信号来代替脉冲调制。在此情况下，根据本发明的核心思想可与相应选择的码无关地达到信号之间的去耦合。由此相关联的雷达传感器同时以重复频率fW周期地发送重复的码帧，这些码帧在时间上以适合的方式彼此位移或延迟。对于所述雷达传感器不必使用不同的码。
本发明的优点在于，在不同的雷达传感器的信号之间进行分离及去耦合。此外可对分别由其它的雷达传感器发送的交叉反射信号求值。这允许例如确定目标物体的外部形状，该目标物体反射雷达信号并具有凹的或凸的形状及其延伸部分。并且可实现目标物体的精确三边测量或位置的确定及可明显地减少由于单反射的错误配位引起的假目标的出现。
本发明的有利构型是从属权利要求中的特征。
在一个脉冲雷达中，如权利要求2中的特征所述的，使用一个适于可尽可能单值测量的目标距离的脉冲重复频率fW，而不会由一个随后的脉冲引起接收信号的叠加：
Reind＝c/(2fW)，其中c＝介质中的光速。
在此，重复频率fW例如也可为一个PN雷达的PN码帧的重复频率，如权利要求3中的特征所述的。
借助此外由A.Ludloff著的“Praxiswissen Radar undRadarsignalverarbeitung”(第2版，Vieweg出版社，威斯巴登(德国)1988年)所公开的雷达方程式可这样地调节每个雷达传感器的最大作用范围Rmax，即在一个目标距离上由目标反射出的雷达信号仍被寄存在接收器中的该目标距离Rmax最大相应于距离Reind，在该距离Reind上被接收的雷达信号仍可单值地对应。因此避免一个目标在一个不再允许单值的测量结果的距离上被测量。
通常当紧邻的近区域不能由雷达传感器检测时，由雷达传感器监测的距离范围开始于一个相距雷达传感器的最小距离ra。因此雷达传感器的实际上待监测的区域[ra；rb]在间隔[0；Rmax]内，如权利要求4给出的。因此，在检测范围中由发送器发出雷达脉冲到目标物体及返回接收器的各个信号运行时间在时间间隔[2ra/c；2rb/c]或[ta；tb]中，它又在可以单值测量的时间间隔[0；1/fW]中。在此情况下，如果应监测不同的距离范围时，对于n个雷达传感器中第i个的这些时间间隔可彼此不同。
如果在根据权利要求5的雷达系统中使用n个协同工作的并同时起作用的雷达传感器及分别彼此去耦合，则在上述间隔[0；1/fW]内必需这样地选择各个雷达传感器的周期发送信号的延迟tsi，以使得各监测一个确定的空间距离的各个雷达传感器中接收信号的延迟时间不相交，以便彼此去耦合。这将这样来达到，即在n个雷达传感器的周期发送信号的重复频率fW的一个周期内延迟时间tsi被不同地、例如根据以下的关系来选择：
tsi＝(i-1)*c/(2Rmax)，有i＝1，2，…，n
其中总是第i个雷达传感器在以下间隔内：
[tai；tbi]＝[tsi+ta；tsi+tb]接收其自身反射信号或它的交叉反射信号可由其它各雷达传感器接收。
尤其在PN编码的雷达信号中可选择发送码帧的一个小的重复频率fW。例如对于10Bit的PN码及使用250MHz的Bit时钟频率或芯片时钟频率时得到fW＝244KHz的码帧重复频率，以致在[0s，4μs]的码帧周期的时间间隔内可以由该雷达传感器进行单值的距离测量。这相应于614米的一个最大可能的单值距离Reind。
如果与此相应地所有相关联的雷达传感器的最大作用范围被调节到Rmax＝200米，则在该例中可至多三个雷达传感器彼此去耦合地工作，因为在间隔[0m；Rmax]内可见自身反射信号，但其它各个雷达传感器的交叉反射信号在与发送信号的码延迟相关联的＞Rmax的距离上出现。在此情况下可保证雷达传感器之间码偏移的时间同步，即相应的延迟间隔不相交。因此这不要求过多的精度。
但为了由一个传感器能分别检测到其它n-1个传感器(i＝2…n)的交叉反射信号，则需要各个雷达传感器或它们的发送器彼此精确地同步；及各由传感器检测的距离范围在相应地精确位移的、如权利要求6中特征部分所述的距离间隔中：
[c/(2ts2…n)+ra；c/(2ts2…n)+rb]。在此情况下每个单个的雷达传感器的发送信号(雷达脉冲或PN编码载波)的时间延迟由tsi来确定，以便保证：其它相关联的雷达传感器的交叉反射信号仅对于时间延迟tsi的及在相应的雷达传感器接收器中与此相关联出现的距离间隔的确定的、分离的间隔是可见的。在此情况下相应传感器的自身反射信号的求值不改变地进行。
这里自身反射信号及n-1个其它交叉反射信号的检测与求值可在一个雷达传感器的多个接收单元中按时间串行地或并行地进行，如权利要求7中所说明的。对于串行地检测不需要其它的接收器。也可以将这两种方法相组合。电子求值单元的相应构型是本领域技术人员可做到的。
可以理解，上述多个雷达传感器的去耦合也可对于不同的用途用于声传感器如超声波传感器或用于光传感器如激光雷达传感器。
附图的简短说明
以下将借助附图详细地描述本发明的实施例。附图表示：
图1：一个脉冲雷达的电路框图，
图2：示范表示的、用于多个雷达传感器工作时时间延迟的间隔分配的一个片断，及
图3：具有多个接收器的一个脉冲雷达的电路框图。
具体实施方式
由图1中的概要示图可看到一个本身公知的脉冲雷达系统的一个雷达传感器10。该雷达传感器10主要包括一个脉冲发生器11，该脉冲发生器促使一个发送器12通过一个发射天线13发送一个雷达脉冲19。该雷达脉冲19在一个目标物体18，例如另一机动车、一个固定的障碍物或一个行人上被反射20及由一个接收天线14传送到雷达传感器10的一个接收器15上。在这里接收信号20与脉冲发生器11的一个参考信号相混合及通过一个低通滤波器及A/D转换器16继续传送给一个求值单元17。在此，参考信号可相对发送信号在时间上偏移。在求值单元17中对接收信号20在目标物体18相对雷达传感器10或相对装有该雷达传感器的机动车的距离及相对速度方面进行分析。
由图2中的示图可看到例如n＝4个雷达传感器10的在雷达信号的延迟时间上彼此分开的运行，其中通过箭头来表示开始于t＝0秒(s)的随时间的变化。在第一间隔[ta；tb]中四个雷达传感器10中的第一个接收其自身的回波及n-1个其它雷达传感器分别接收由第一雷达传感器发送的交叉反射信号。在间隔[ts3+ta；ts3+tb]中，第一雷达传感器10例如接收第三雷达传感器的交叉反射信号，等。分别位于这些接收间隔之间的时间区段对于在考虑雷达方程的情况下确保自身反射信号及交叉反射信号的测量时的单值性是必要的。在总的时间区段1/fW后一个周期结束并重复该过程。因此，这些连续发送的雷达传感器10去耦合或彼此在发送及接收运行中通过时间延迟这样地相互分开，使得由一个雷达传感器10可检测及处理另外三个雷达传感器10的自身反射信号及交叉反射信号，而不会导致不希望的干扰或叠加。
根据该雷达传感器10的在图3中示范表示的实施形式，该雷达传感器设有三个接收器15及相应地设有三个低通滤波器及A/D转换器16，以便接收、处理以及分别向一个共同的求值单元17继续传送不仅自身反射信号而且其它两个雷达传感器10的其它两个交叉反射信号，所有这些反射信号均由该天线14接收。

Claims (8)

1.具有两个或多个传感器的系统，其中每个传感器具有用于信号的一个发送器及一个接收器，及一个传感器可接收另一传感器的交叉反射信号，其特征在于：这些传感器在接收工作中通过发送及接收信号的时间延迟彼此在时间上被分开。
2.根据权利要求1的系统，其特征在于：该系统是一个具有两个或多个相关联的雷达传感器(10)的雷达系统，一个具有两个或多个相关联光学传感器的光学系统或一个具有两个或多个相关联的超声波传感器的超声波系统。
3.根据权利要求1或2的雷达系统，其特征在于：这些雷达传感器(10)各为脉冲式的，尤其具有小的重复频率fW。
4.根据权利要求2或3的雷达系统，其特征在于：对于这些雷达传感器(10)的发送信号使用一个通过ASK，PSK，BPSK，FSK或这些调制方式与PN码的组合调制的载波信号。
5.根据权利要求3或4的雷达系统，其特征在于：这些雷达传感器(10)分别监测间隔[0m；Rmax]中的一个待监测的距离范围[ra；rb]，其中有：0m≤ra≤rb≤Rmax。
6.根据权利要求3至5中一项的雷达系统，其特征在于：n个雷达传感器(10)同时地、无间断地发送一个相应地调制的发送信号(Puls，PN-BPSK)。
7.根据以上权利要求中一项的雷达系统，其特征在于：由第一雷达传感器接收在距离范围[c/(2ts2...n)+ra；c/(2ts2...n)+rb]中的n-1个其它的相关联的雷达传感器(10)的交叉反射信号。
8.根据以上权利要求中一项的雷达系统，其特征在于：在一个雷达传感器(10)中并行地和/或串行地进行一个自身反射信号和(n-1)个交叉反射信号的求值，尤其在并行求值的情况下设置多个接收器(15)。
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CN105785377A (zh) * 2015-01-09 2016-07-20 罗伯特·博世有限公司 超声测量系统、运动机构和用于运行超声发送接收装置的方法
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