EP1570298A1 - Multi-targeting method and multi-targeting sensor device for locating short-range target objects in terms of distance and angle - Google Patents
Multi-targeting method and multi-targeting sensor device for locating short-range target objects in terms of distance and angleInfo
- Publication number
- EP1570298A1 EP1570298A1 EP03785706A EP03785706A EP1570298A1 EP 1570298 A1 EP1570298 A1 EP 1570298A1 EP 03785706 A EP03785706 A EP 03785706A EP 03785706 A EP03785706 A EP 03785706A EP 1570298 A1 EP1570298 A1 EP 1570298A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor element
- characteristic signal
- sensor
- target objects
- receiving antennas
- 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- Withdrawn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
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 11
- 238000005316 response function Methods 0.000 claims description 10
- 230000006855 networking Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 6
- 238000003491 array Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/422—Simultaneous measurement of distance and other co-ordinates sequential lobing, e.g. conical scan
-
- 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
- G01S13/88—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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
Definitions
- Multi-target method and multi-target sensor device for the distance and angular location of target objects in the vicinity
- the present invention relates generally to a multi-target method and a multi-target sensor device for the distance and angular location of target objects in the close range. More specifically, the present invention relates to a multi-purpose radar sensor device for the distance and angular location of targets in close range and a method for operating such a multi-purpose radar sensor device.
- the position determination of target objects can be carried out using conventional radar technology, among other things.
- the distance and direction (angle) of a target object to be detected should be determined.
- To determine the direction of a narrow beam lobe is pivoted a radar ge ⁇ .
- antennas or antenna groups with a high directivity are required, the dimensions of which are a multiple of the wavelength of the radar.
- the radar described above is disadvantageous in that it is relatively expensive and requires a large amount of space due to large antenna apertures.
- radar sensors for determining the position of a target object have been developed in the prior art, which provide an angular information via triangulation.
- Ghost targets mean that after detecting the distances of several targets on several sensor elements, there are several solutions for how the individual distance values can be combined with one another in order to infer the position of the target objects.
- FIG. 1 Such a problem of ghost target detection can be seen from FIG. 1, in which the ambiguous evaluation of the distance information which is present on the sensor elements is shown in the event that two sensor elements 1 and 2 are used.
- the ghost targets lie at the intersection points of the arcs, which are drawn from the sensor elements 1 and 2 (as the center point) by the respective target objects to be detected.
- the target objects are doubled.
- the multi-target radar according to the invention for specifying the distance and direction of a plurality of target objects comprises at least one sensor element which emits a characteristic signal (e.g.
- each sensor element of this type is therefore multi-targetable, provided that only one target object is contained in each distance range.
- two or more sensor elements according to the invention in order to obtain clear angular statements for all target objects without exception, two or more sensor elements according to the invention can be used, which are attached at a distance from one another which is greater than the distance resolution of the sensor elements.
- the sensor device is thus fully multi-target, since the restriction that each target object is at a different distance from the sensor element always applies to two sensor elements. Only a few sensor elements are required, which are simply constructed, since neither mechanical swiveling, nor antennas with a large aperture, nor many receivers are necessary.
- all signal paths between their transmitters and receivers can be used with one another, as a result of which a multiplicity of reflection points trace the target object contours. This allows particularly advantageously that not only direction and distance, but also the spatial shape of target objects or objects is recognized.
- the beam lobes of the transmission antennas can also be pivoted in order to further increase the uniqueness. You can send and receive with different antenna lobes one after the other. For example, a maximum and a zero can alternately be aimed at the target objects.
- FIG. 2 shows a sensor element for determining the angle of incidence for a single target object according to the invention
- FIG. 3 shows the superimposition of the waves from two different directions in a sensor element from FIG. 2;
- FIG. 4A shows a sensor element according to the invention with a pulse generator for determining the angle of incidence in the case of a target object or a multiplicity of target objects;
- 4B shows a sensor element according to the invention with a PN generator for determining the angle of incidence for a target object or a multiplicity of target objects;
- 4C shows a signal response functions (eg impulse response) over the distance, the maxima of the signal response functions being at the locations of target object distances;
- FIG. 5 shows a further embodiment of the present invention with an arrangement of three sensor elements for detecting an extended object and a punctiform object
- Fig. 6 shows another embodiment of the present invention with a plurality of sensor elements attached to a vehicle, which according to Table 1 in Transmit multiplex operated;
- Tig. 7 the measurement of the angle to one or more line objects with the swiveling of a transmitting lobe with a maximum in the swiveling angle direction, the lobe of the receiving antenna being omnidirectional;
- FIG. 10 shows the measurement of the angle to one or more line objects with the pivoting of a split transmitting lobe with a dip in the direction of the pivoting angle, the split lobe of the receiving antenna also being gradually pivoted.
- a sensor element 10 for determining the angle of incidence ⁇ (direction) according to the invention in a single target object (not shown) is shown.
- the sensor element 10 has a transmitting antenna 11 and at least two receiving antennas 1 and 2.
- Each of the receiving antennas 1 and 2 is connected to a respective quadrature detector 21 and 22 which detects the respective signals Ui and U 2 of the receiving antennas in-phase (I ) and quadrature (Q) signals demodulated.
- the demodulated signals subjected to an A / D conversion in the respective converters 31 and 31 and fed via the bus 40 to the processing unit 50, in which the angle of incidence ⁇ of the wave reflected by the single target object is calculated on the basis of the phase difference between the receiving antennas based on the following formula:
- FIG. 3 illustrates the superimposition of the waves from two different directions on a single sensor element, which is constructed according to FIG. 2.
- the determination of the direction of the target objects is carried out by the additional measurement of
- the arrangement according to the invention consists of a sensor element 10 which detects the distances of several (not shown) target objects via the running time measurement and for each detected distance a ⁇ _ and a 2 separately detects the phase difference between two adjacent receiving antennas 1 and 2, from which then one assigned to each distance
- Angular statement ⁇ _ and 0. 2 is calculated. Ambiguous angle statements are only possible in cases where two or more target objects are at the same distance from one sensor element.
- a signal which changes over time is transmitted to the environment by a pulse generator 60 or a PN generator 60 'via the transmission antenna 11 and is scattered back at a number of target objects.
- the backscattered signal is received and according to amount and phase in the baseband by the circuit shown analog to the circuit 2 transported.
- a complex signal response function is formed over the distance, the phase of the complex function values corresponding to the phase of the received signal.
- the impulse response in the case of a pulse radar or the correlation function in the case of a PN (pseudo-noise code) radar results in a response function over the distance from the sensor, which has maxima at those distances from those in which there are reflection points, ie target objects.
- the correlation preferably takes place via a predetermined delay, which is provided via the respective programmable delay elements 61.
- the phase of the signal backscattered from the respective target object can be read from each of the maxima, since the phase has been transported through to the baseband. If one now compares the two response functions generated in the two reception paths, the phase difference ⁇ of the signals backscattered from this target object can be determined for each target object, that is to say for each maximum. This phase difference is also present between the receiving antennas.
- Maxima at which the phase differences ⁇ i and ⁇ 2 of the reflected signals of the target objects 1 and 2 are determined, can be seen from FIG. 4C, in which the signal response functions are shown by way of example using the impulse response as the distance. As already explained above, the maxima are located at the target object distances.
- the response function on the first reception path to and from the first target object is shown with a solid line.
- the response function on the second reception path to and from the second target object is shown with a dashed line.
- the maxima coincide with two target objects located at the same or approximately the same distance from the one sensor element, so that no clear detection of the angles of incidence ⁇ ] _ and ⁇ is possible.
- FIG. 5 shows the detection of the contour line of an extended target object (eg bumper) and a “point-shaped” target object (eg lamppost) with three networked sensor elements 10, 10 'and 10 ".
- each sensor element 10, 10 'and 10 is necessary in order to obtain clear statements about the position of the scattering points and is carried out analogously to the above-described embodiments of the invention.
- the use of a plurality of sensor elements 10, 10' and 10" different viewpoints means that no incorrect angle information is created if several scattering points are at the same distance from a sensor element.
- at least the number of scatter points which is also the number of sensor elements, can be detected on extended target objects (such as, for example, bumpers).
- extended target objects such as, for example, bumpers
- the networking of all sensor elements via their radio link means that at least the number of scattering points is detected on extended target objects (such as bumpers), which is equal to the number of possible pair combinations between all sensor elements, as in 5.
- Another target such as B. a lamppost can be detected by the sensors at the same time.
- the evaluation of the measurement results of the networked sensor elements takes place via a suitable programming of the processing unit, which receives the phase and distance information from each of the sensor elements, and the z. B. in the event of ambiguity (no distance between the detected maxima), the unusable information is filtered out and only the information of the conveniently located sensor element is evaluated.
- these can transmit and receive past one another simultaneously in the form of PN code sensors, or in time division multiplexing, as described in Table 1 below by way of example.
- the sensor elements A to H in Table 1 operated in time division multiplex can be attached to a vehicle as shown in FIG. 6 in order to cover all relevant detection directions.
- FIGS. 7 to 10 Another embodiment of angle detection with small antenna groups will now be described with reference to FIGS. 7 to 10. Different forms of beam swiveling and the application of the principle of intelligent antennas are used for location from different points of view.
- Subgroup can be controlled separately according to amplitude and phase, antenna beams of different types can be generated and swiveled.
- the variety of possible antenna lobes means that the angular resolution of the system becomes higher by successively pivoting several types of transmitting antenna lobes and simultaneously pivoting the receiving lobes. So you can use four degrees of freedom to vary the type of angle measurement:
- Shape of the transmitting antenna lobe (e.g. with maximum or with a dip in the direction of the swivel angle)
- a fifth degree of freedom can be seen as the presence of further synchronized sensor elements which can transmit simultaneously in any combination.
- the different spatial positions of the sensor elements are also used to increase the variability of the measurements.
- a transmitting lobe is pivoted with a maximum in the direction of the pivot angle, the lobe of the receiving antenna being omnidirectional.
- Measurement 1 produces maxima in the transmission or at least higher transmission values for those swivel angles ⁇ , which are aimed at target objects or scatter points on target objects.
- Panning angles ⁇ which are aimed at target objects or scattering points on target objects, are now, as expected, minima. Since the interference effects due to the overlapping of the backscatter of other target objects are different in this measurement than in measurement 1, the influence of the interference effects on the
- Measurement accuracy can be reduced if the results of measurement 1 and measurement 2 are processed together.
- a target object is therefore preferably in the direction ⁇ if measurement 1 simultaneously indicates an increased value and measurement 2 shows a minimum.
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10258367A DE10258367A1 (en) | 2002-12-12 | 2002-12-12 | Multi-objective method and multi-objective sensor device for the distance and angle localization of target objects in the vicinity |
DE10258367 | 2002-12-12 | ||
PCT/EP2003/013546 WO2004053523A1 (en) | 2002-12-12 | 2003-12-02 | Multi-targeting method and multi-targeting sensor device for locating short-range target objects in terms of distance and angle |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1570298A1 true EP1570298A1 (en) | 2005-09-07 |
Family
ID=32477622
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP03785706A Withdrawn EP1570298A1 (en) | 2002-12-12 | 2003-12-02 | Multi-targeting method and multi-targeting sensor device for locating short-range target objects in terms of distance and angle |
Country Status (6)
Country | Link |
---|---|
US (1) | US20060114146A1 (en) |
EP (1) | EP1570298A1 (en) |
JP (1) | JP2006510009A (en) |
AU (1) | AU2003294763A1 (en) |
DE (1) | DE10258367A1 (en) |
WO (1) | WO2004053523A1 (en) |
Families Citing this family (26)
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DE102004003235A1 (en) * | 2004-01-21 | 2005-08-11 | Valeo Schalter Und Sensoren Gmbh | Method and detection device for determining the position of an object in a room |
DE102004044130A1 (en) * | 2004-09-13 | 2006-03-30 | Robert Bosch Gmbh | Monostatic planar multi-beam radar sensor |
DE102004051690A1 (en) * | 2004-10-23 | 2006-04-27 | Volkswagen Ag | Motor vehicle e.g. land vehicle, has parking space detector to determine length and width of parking space with respect to nearby objects based on vehicle speed, distance from vehicle side to object, and angle of such distance |
EP1757956A1 (en) * | 2005-08-24 | 2007-02-28 | Leica Geosystems AG | Multiple target capable ranging method according to the phase measuring method |
DE102006039357B4 (en) * | 2005-09-12 | 2018-06-28 | Heinz Lindenmeier | Antenna diversity system for radio reception for vehicles |
DE102005044884A1 (en) * | 2005-09-20 | 2007-03-29 | Siemens Ag | radar system |
DE102006043953A1 (en) * | 2006-09-14 | 2008-03-27 | Valeo Schalter Und Sensoren Gmbh | Method for operating a motor vehicle radar system and motor vehicle radar system |
DE102007017478A1 (en) * | 2007-04-13 | 2008-10-16 | Lindenmeier, Heinz, Prof. Dr. Ing. | Receiving system with a circuit arrangement for the suppression of switching interference in antenna diversity |
JP5290766B2 (en) * | 2007-04-27 | 2013-09-18 | パナソニック株式会社 | Shape measuring apparatus and shape measuring method |
DE102008031068A1 (en) * | 2007-07-10 | 2009-01-15 | Lindenmeier, Heinz, Prof. Dr. Ing. | Antenna diversity system for relatively broadband radio reception in vehicles |
DE102007039914A1 (en) * | 2007-08-01 | 2009-02-05 | Lindenmeier, Heinz, Prof. Dr. Ing. | Antenna diversity system with two antennas for radio reception in vehicles |
US8400350B2 (en) * | 2007-08-08 | 2013-03-19 | Fujitsu Ten Limited | Radar device and azimuth angle detection method |
DE102008003532A1 (en) * | 2007-09-06 | 2009-03-12 | Lindenmeier, Heinz, Prof. Dr. Ing. | Antenna for satellite reception |
JP5091651B2 (en) * | 2007-12-14 | 2012-12-05 | 日立オートモティブシステムズ株式会社 | Radar apparatus and target azimuth measurement method |
DE102007060769A1 (en) * | 2007-12-17 | 2009-06-18 | Robert Bosch Gmbh | Monostatic multi-beam radar sensor, as well as methods |
JP2009198402A (en) * | 2008-02-22 | 2009-09-03 | Toyota Motor Corp | Impact detection device |
JP5428488B2 (en) * | 2008-04-25 | 2014-02-26 | 三菱電機株式会社 | Vehicle tilt detection device |
JP5501578B2 (en) * | 2008-06-30 | 2014-05-21 | 三菱電機株式会社 | Radar equipment |
EP2209221B8 (en) * | 2009-01-19 | 2019-01-16 | Fuba Automotive Electronics GmbH | Receiver for summating phased antenna signals |
DE102009011542A1 (en) * | 2009-03-03 | 2010-09-09 | Heinz Prof. Dr.-Ing. Lindenmeier | Antenna for receiving circularly in a direction of rotation of the polarization of broadcast satellite radio signals |
DE102009023514A1 (en) * | 2009-05-30 | 2010-12-02 | Heinz Prof. Dr.-Ing. Lindenmeier | Antenna for circular polarization with a conductive base |
JP2013140072A (en) * | 2012-01-04 | 2013-07-18 | Mitsubishi Electric Corp | Vehicle inclination detecting device |
US9285468B2 (en) * | 2012-07-12 | 2016-03-15 | GM Global Technology Operations LLC | Extended angular resolution in sensor arrays using secondary echoes |
TWI637149B (en) * | 2017-06-12 | 2018-10-01 | 東盛精密科技有限公司 | Distance measuring device and distance detecting method thereof |
DE102018129876B3 (en) * | 2018-11-27 | 2020-04-16 | Valeo Schalter Und Sensoren Gmbh | Method for determining a geometric property of an object using a straight line equation, computer program product, electronic computing device and ultrasonic sensor device |
EP3997483A1 (en) * | 2019-07-12 | 2022-05-18 | Artis LLC | Microsecond time of flight (mtof) sensor |
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US3518672A (en) * | 1969-02-28 | 1970-06-30 | Raytheon Co | Radar transponder |
US4931977A (en) * | 1987-10-30 | 1990-06-05 | Canadian Marconi Company | Vectorial adaptive filtering apparatus with convergence rate independent of signal parameters |
US5541608A (en) * | 1995-03-29 | 1996-07-30 | Itt Corporation | Hybrid amplitude/phase comparison direction finding system |
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GB9613645D0 (en) * | 1996-06-28 | 1996-08-28 | Cambridge Consultants | Vehicle radar system |
DE19711467C2 (en) * | 1997-03-20 | 2000-12-07 | Mannesmann Vdo Ag | Method for determining the vertical distance between an object and a locally changing device |
US6184830B1 (en) * | 1997-10-02 | 2001-02-06 | Raytheon Company | Compensation of direction finding estimates for polarimetric errors |
DE19853683C1 (en) * | 1998-11-20 | 2000-09-07 | Bosch Gmbh Robert | Distance measurement device derives distance to external device from external signal transition time differences of at least two sensor pairs and known sensor disposition |
DE10026032A1 (en) * | 2000-05-25 | 2001-11-29 | Bayerische Motoren Werke Ag | Device and method for determining distance and speed |
WO2003071293A1 (en) * | 2002-02-22 | 2003-08-28 | Daimlerchrysler Ag | Method and system for sampling at least one antenna |
US6750804B2 (en) * | 2002-04-04 | 2004-06-15 | Raytheon Company | System and method for detecting and estimating the direction of near-stationary targets in monostatic clutter using phase information |
EP1651976A2 (en) * | 2003-08-05 | 2006-05-03 | University Of Hawaii | Microwave self-phasing antenna arrays for secure data transmission satellite network crosslinks |
-
2002
- 2002-12-12 DE DE10258367A patent/DE10258367A1/en not_active Ceased
-
2003
- 2003-12-02 EP EP03785706A patent/EP1570298A1/en not_active Withdrawn
- 2003-12-02 JP JP2004557968A patent/JP2006510009A/en not_active Abandoned
- 2003-12-02 WO PCT/EP2003/013546 patent/WO2004053523A1/en not_active Application Discontinuation
- 2003-12-02 AU AU2003294763A patent/AU2003294763A1/en not_active Abandoned
- 2003-12-02 US US10/538,731 patent/US20060114146A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO2004053523A1 * |
Also Published As
Publication number | Publication date |
---|---|
AU2003294763A1 (en) | 2004-06-30 |
WO2004053523A1 (en) | 2004-06-24 |
DE10258367A1 (en) | 2004-07-08 |
US20060114146A1 (en) | 2006-06-01 |
JP2006510009A (en) | 2006-03-23 |
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