EP1328824A2 - Method for adaptive target processing in a motor vehicle radar system - Google Patents
Method for adaptive target processing in a motor vehicle radar systemInfo
- Publication number
- EP1328824A2 EP1328824A2 EP01988869A EP01988869A EP1328824A2 EP 1328824 A2 EP1328824 A2 EP 1328824A2 EP 01988869 A EP01988869 A EP 01988869A EP 01988869 A EP01988869 A EP 01988869A EP 1328824 A2 EP1328824 A2 EP 1328824A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- normal mode
- distance
- target environment
- measuring range
- radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse 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
- G01S13/02—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
Definitions
- the invention relates to a method for adaptive target processing in a motor vehicle radar according to the preamble of patent claim 1.
- the radar sensors used in automobiles are usually used to regulate the speed in traffic environments such as country roads or highways.
- the boundary conditions for this application are such that environmental information is necessary for a distance range of approx. 10 m to 150 m.
- the data cycle time ie the time required to acquire the complete measuring range, is determined for radar systems by the processing time for distance measurement and Doppler measurement. With the current systems for distance control in a motor vehicle, this time is defined in such a way that it meets the requirements of the users with regard to distance and speed measurement accuracies, while accepting the disadvantages mentioned above.
- DE 44 33 775 A1 discloses a method for adaptive target processing in a motor vehicle radar, in which the distance is switched between a normal mode and a fine mode with a higher resolution. This method forms the preamble of claim 1.
- the object of the invention is to introduce adaptive signal processing in front of the tracking filter, which makes it possible to cover the close range up to just before the antenna and to further improve the target separation.
- a fine mode with increased resolution and / or increased measurement accuracy with regard to speed and possibly distance is introduced.
- the range measurement range of the radar is adapted to the target environment recorded in normal mode, i.e. only a limited range measurement range is considered in fine mode.
- the detection in normal mode is a target or several targets in a certain distance range
- this distance range in particular can be detected within the fine mode, specifically with increased speed resolution and / or speed measurement accuracy.
- the range resolution and / or the range measurement accuracy can also be increased.
- the distance measuring range is adapted while increasing the resolution and / or measuring accuracy in such a way that the data cycle time and thus the data renewal rate for the fine mode remain unchanged compared to the normal mode.
- the method according to the invention thus corresponds to the use of adaptive filters in signal processing, which can be adapted to the respective situation.
- TD denotes the processing time for the Doppler determination
- fs is the Doppler sampling rate
- 1 / fs is the time interval between two Doppler sampling values (serial number 1, n in FIG. 1).
- the horizontal axis denotes the time axis for the individual distance gates.
- T R ⁇ st the time for a data cycle, ie the time that is required to record the complete measuring range.
- a typical value for TR is 1 ⁇ s.
- TR is usually smaller than TD.
- the usual vehicle radars divide the distance measuring range into fixed distance gates ETk, in which the speeds of the detected objects are determined with predetermined Doppler bandwidths.
- the distance gate length is approx. 5m and the speed resolution is in the range around 5 km / h.
- Several distance gates can be combined to form blocks (width of a block: T R j) on the Doppler level, with Doppler processing for the distance gates of a block taking place in parallel.
- T R j width of a block
- Doppler processing for the distance gates of a block taking place in parallel.
- a multi-channel receiver can be used for this.
- the time TR is divided into time periods TRJ which satisfy the condition that
- the division into the time segments TRJ is advantageous in view of the limited storage space in the signal processing of the radar and enables an optimization of the processing time (computing time for transformations). For example, if T R is divided into 8 sections T R j, the complete data cycle can be performed in a time To at
- a switch is made to a distance range which corresponds to one or more time periods T R j, in which the targets relevant to the control were discovered and which covers a sub-area of the original distance range ,
- the range gate length TE usually corresponds to the transmission pulse length ⁇ .
- the range resolution for pulse radars can be improved.
- the frequency deviation ⁇ F of the RF signal defines the distance gate length, whereby the individual distance gates are determined by bandpass filters.
- a reduction in the distance gate length can be achieved by increasing the frequency swing ⁇ F.
- the Doppler processing usually takes place after temporal integration of the echo signals (serial no. 1, ..., n in FIG. 1) within the same distance gate ETk.
- pulse radar a sample value for Doppler processing is obtained from each pulse.
- FMCW radar a sample for Doppler processing is obtained from each modulation period.
- the time duration of the sampling T D can be extended in fine mode while maintaining the sampling rate fs by increasing the number n of sampling values and thus the filter bandwidth can be reduced in Doppler processing, ie the speed resolution can be improved.
- the same The effect of lengthening TD is achieved by reducing the sampling frequency fs and maintaining the number n of samples.
- the reduction in the sampling frequency fs results in a reduction in the clearly detectable speed range.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10053061A DE10053061A1 (en) | 2000-10-26 | 2000-10-26 | Method for adaptive target processing in a motor vehicle radar |
DE10053061 | 2000-10-26 | ||
PCT/DE2001/003987 WO2002035255A2 (en) | 2000-10-26 | 2001-10-24 | Method for adaptive target processing in a motor vehicle radar system |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1328824A2 true EP1328824A2 (en) | 2003-07-23 |
Family
ID=7661108
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01988869A Withdrawn EP1328824A2 (en) | 2000-10-26 | 2001-10-24 | Method for adaptive target processing in a motor vehicle radar system |
Country Status (4)
Country | Link |
---|---|
US (1) | US6833807B2 (en) |
EP (1) | EP1328824A2 (en) |
DE (1) | DE10053061A1 (en) |
WO (1) | WO2002035255A2 (en) |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4204358B2 (en) * | 2003-03-20 | 2009-01-07 | 富士通テン株式会社 | Transmission / reception shared FM-CW radar apparatus and signal processing method thereof |
US7400290B2 (en) * | 2005-12-30 | 2008-07-15 | Valeo Raytheon Systems, Inc. | Vehicle radar system having multiple operating modes |
CA2671746A1 (en) * | 2006-11-06 | 2008-10-23 | Delta Epsilon Technologies, Llc | System and method for target tracking |
JP4790045B2 (en) * | 2009-05-19 | 2011-10-12 | 本田技研工業株式会社 | Device for determining radar axis misalignment |
DE102011056050A1 (en) * | 2011-12-05 | 2013-06-06 | Continental Teves Ag & Co. Ohg | Setting of distance sensors of an environment sensor depending on environment information |
US9575560B2 (en) | 2014-06-03 | 2017-02-21 | Google Inc. | Radar-based gesture-recognition through a wearable device |
US9811164B2 (en) | 2014-08-07 | 2017-11-07 | Google Inc. | Radar-based gesture sensing and data transmission |
US10268321B2 (en) | 2014-08-15 | 2019-04-23 | Google Llc | Interactive textiles within hard objects |
US11169988B2 (en) | 2014-08-22 | 2021-11-09 | Google Llc | Radar recognition-aided search |
US9778749B2 (en) | 2014-08-22 | 2017-10-03 | Google Inc. | Occluded gesture recognition |
US9600080B2 (en) | 2014-10-02 | 2017-03-21 | Google Inc. | Non-line-of-sight radar-based gesture recognition |
CN107430443B (en) | 2015-04-30 | 2020-07-10 | 谷歌有限责任公司 | Gesture recognition based on wide field radar |
EP3289433A1 (en) | 2015-04-30 | 2018-03-07 | Google LLC | Type-agnostic rf signal representations |
US10241581B2 (en) | 2015-04-30 | 2019-03-26 | Google Llc | RF-based micro-motion tracking for gesture tracking and recognition |
US9693592B2 (en) | 2015-05-27 | 2017-07-04 | Google Inc. | Attaching electronic components to interactive textiles |
US10088908B1 (en) | 2015-05-27 | 2018-10-02 | Google Llc | Gesture detection and interactions |
US10817065B1 (en) | 2015-10-06 | 2020-10-27 | Google Llc | Gesture recognition using multiple antenna |
US10492302B2 (en) | 2016-05-03 | 2019-11-26 | Google Llc | Connecting an electronic component to an interactive textile |
US10285456B2 (en) | 2016-05-16 | 2019-05-14 | Google Llc | Interactive fabric |
US10175781B2 (en) | 2016-05-16 | 2019-01-08 | Google Llc | Interactive object with multiple electronics modules |
US10579150B2 (en) | 2016-12-05 | 2020-03-03 | Google Llc | Concurrent detection of absolute distance and relative movement for sensing action gestures |
FI128122B (en) * | 2018-08-29 | 2019-10-15 | Ponsse Oyj | Steering arrangement, and method of steering a forest machine |
US11821977B2 (en) * | 2019-07-10 | 2023-11-21 | Samsung Electronics Co., Ltd. | Target detection and tracking for feature extraction |
JP7263617B2 (en) * | 2020-03-10 | 2023-04-24 | 株式会社日立国際電気 | Foreign object detection system |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4078234A (en) * | 1975-04-25 | 1978-03-07 | The United States Of America As Represented By The Secretary Of The Army | Continuous wave correlation radar system |
GB2298538B (en) | 1990-02-28 | 1997-03-19 | Marconi Gec Ltd | Radar system |
DE4433775A1 (en) * | 1994-09-22 | 1996-03-28 | Daimler Benz Ag | Pulse radar method |
US5760732A (en) * | 1996-05-01 | 1998-06-02 | Multispec Corporation | Method and apparatus for enhanced resolution of range estimates in echo location for detection and imaging systems |
DE19624043A1 (en) * | 1996-06-17 | 1997-12-18 | Bayerische Motoren Werke Ag | Measuring method for the distance between a motor vehicle and an object |
US5842156A (en) * | 1996-11-12 | 1998-11-24 | The United States Of America As Represented By The Secretary Of The Air Force | Multirate multiresolution target tracking |
DE19734713A1 (en) * | 1997-08-11 | 1999-02-18 | Mikrowellen Technologie Und Se | Radar range finder |
US5943003A (en) * | 1997-11-18 | 1999-08-24 | Raytheon Company | Radar system |
WO2001094975A1 (en) * | 2000-06-06 | 2001-12-13 | Altratek Inc. | System and method for detection and tracking of targets |
-
2000
- 2000-10-26 DE DE10053061A patent/DE10053061A1/en not_active Withdrawn
-
2001
- 2001-10-24 EP EP01988869A patent/EP1328824A2/en not_active Withdrawn
- 2001-10-24 WO PCT/DE2001/003987 patent/WO2002035255A2/en active Application Filing
- 2001-10-24 US US10/415,386 patent/US6833807B2/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO0235255A3 * |
Also Published As
Publication number | Publication date |
---|---|
WO2002035255A2 (en) | 2002-05-02 |
DE10053061A1 (en) | 2002-05-08 |
US6833807B2 (en) | 2004-12-21 |
US20040027273A1 (en) | 2004-02-12 |
WO2002035255A3 (en) | 2002-08-08 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
AK | Designated contracting states |
Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR |
|
AX | Request for extension of the european patent |
Extension state: AL LT LV MK RO SI |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: AUTOMOTIVE DISTANCE CONTROL SYSTEMS GMBH |
|
17P | Request for examination filed |
Effective date: 20030425 |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: 7G 01S 13/58 B Ipc: 7G 01S 13/72 B Ipc: 7G 01S 13/18 B Ipc: 7G 01S 13/32 B Ipc: 7G 01S 13/10 A |
|
RBV | Designated contracting states (corrected) |
Designated state(s): AT BE CH CY DE FR IT LI |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN |
|
17Q | First examination report despatched |
Effective date: 20090512 |
|
18W | Application withdrawn |
Effective date: 20090526 |