EP1579243A2 - Dispositif de mesure de la distance et de la vitesse d'objets - Google Patents

Dispositif de mesure de la distance et de la vitesse d'objets

Info

Publication number
EP1579243A2
EP1579243A2 EP03812562A EP03812562A EP1579243A2 EP 1579243 A2 EP1579243 A2 EP 1579243A2 EP 03812562 A EP03812562 A EP 03812562A EP 03812562 A EP03812562 A EP 03812562A EP 1579243 A2 EP1579243 A2 EP 1579243A2
Authority
EP
European Patent Office
Prior art keywords
delay
mixer
distance
speed
designed
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Withdrawn
Application number
EP03812562A
Other languages
German (de)
English (en)
Inventor
Michael Schlick
Juergen Hoetzel
Rainer Moritz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1579243A2 publication Critical patent/EP1579243A2/fr
Withdrawn legal-status Critical Current

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
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • 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
    • 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
    • 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
    • G01S13/88—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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

  • the invention relates to a device for measuring the distance and speed of objects by means of radar pulses
  • Radar pulses are emitted according to DE 19963006A1 for the detection of objects by means of radar sensors.
  • the pulses reflected by a target object are evaluated in such a way that different spatial resolutions and different dimensions with regard to the distance and length of a virtual barrier can be achieved.
  • the received radar pulses are correlated with delayed transmitting radar pulses. Velocities are measured via the difference frequencies (Doppler frequencies between the transmitted oscillator frequency and the signal reflected and received by the target. Radar sensors with primary information distance are used as parking aids, ACC, stop & go operation,
  • blind spot detection in the motor vehicle sector For pre-crash sensing, the primary information is speed.
  • a receiving-side mixer that correlates received radar pulses with delayed transmitting-side radar pulses
  • a control device for specifying range gates within which the radar pulses that can be supplied to the mixer can be continuously increased and / or decreased in terms of their pulse delay with respect to their pulse delay Switching device for the realization of several Operating modes, in particular for keeping the transmit-side radar pulses that can be fed to the mixer constant with regard to their delay, in particular to measure Doppler frequencies, for resetting or raising the delay to a previous or new start value and / or continuously changing the delay, in particular in a previous change
  • a radar sensor can simultaneously fulfill several functional requirements, for example parking aid, pre-crash and ACC, stop & go, and carry out the necessary intelligent switchover so that each of the functions defines the information it needs at any time
  • a mode switch from distance measurement EM to speed measurement GM cannot take place at any time. Because of the sweep method (continuous change in the transmission-side radar pulses supplied to the mixer with regard to their delay), time delays can occur here. With the measures of the invention, these time delays can be avoided or reduced. Ambiguities, phantom objects and false reflections can occur in the operating mode of distance measurement. Ambiguities in a one-sensor configuration and tracking multiple targets correspond to two objects
  • ambiguities means that an object has several reflection centers at different distances and it is not possible to distinguish whether the object is several or only on the basis of the distance information from the radar sensor. Phantom objects occur during distance measurement due to the most varied of radar-specific effects, e.g. Doppler reflections, jammers, etc.
  • false reflections can occur that simulate objects at a location where there is no object.
  • Such ambiguities, phantom objects and false reflections can be drastically reduced with the measures according to the invention. It is also possible to remove the limitation of the speed measurement on tracking only one object and the same To ensure multi-target capability as with distance measurement and at the same time to carry out relative speed measurement via Doppier.
  • the limits for the range gates can thus be determined by designing the evaluation unit based on the determined speed values.
  • Moving objects can be due to an increasing
  • Speed gradients / amplitude are detected.
  • the position of a moving object can also be detected due to the maximum amplitude in the Doppler frequency measurement.
  • a speed offset of an object can also be estimated from the detected position.
  • Doppler frequency measurement possible by simple control of the switching device.
  • the switching device can also be controlled in an event-triggered manner, in order to achieve speed measurement on the basis of a detected reflection in the operating mode or to change the delay of the radar pulses transmitted to the mixer in the opposite direction.
  • a plausibility check of objects can be carried out by evaluating further reflections, in particular if the delay of the transmission-side radar pulses supplied to the mixer is carried out in the opposite direction after a detected reflection.
  • speed measurements Based on the speed measurements, estimates for expected pre-crash situations can be created. In particular, speed measurement can then be switched to the operating mode in order to measure Doppler frequencies.
  • FIG. 1 shows a basic circuit diagram of a device according to the invention
  • FIG. 2 to 4 different strategies with combined measurement modes FIG. 5 shows the distance measurement mode
  • FIG. 6 shows the speed measurement mode
  • FIG. 7 shows an object detection
  • FIG. 8 a position detection
  • FIG. 9 estimated speed offsets
  • FIG. 10 a preparation of situation analyzes
  • FIG. 11 a pre-crash time sequence
  • the distance is measured by an indirect transit time measurement of a radar pulse emitted.
  • a carrier frequency oscillator 1 with an oscillation frequency at 24 GHz is provided, which has a power divider 2
  • Vibration frequency passes to two switches 3 and 4.
  • the oscillation frequency is pulse-frequency modulated by switch 3, so that 5 radar pulses arrive at the transmitting antenna, the repetition frequency and width of which are predetermined by the pulse frequency generation 6 within the control device 7.
  • Indirect transit time measurement is done by evaluation using a receiver
  • the speed is measured by evaluating the Doppler frequencies (evaluation device 11), which are also present at the output of the mixer 8. For this purpose, the pulse delay dt is held until an object has approached the radar at a relative speed v with s.
  • This discrete “distance point” with the extent b is called the range gate.
  • the specification of the range gates within which the transmit-side radar pulses that can be fed to the mixer 8 (via switch 4) with respect to their pulse delay can be continuously increased and / or decreased can also be done the control device 7, for example via correspondingly controllable delay lines.
  • the radar pulse sensor considered here cannot measure distance and speed in parallel, but can do more than one mixer with the same for all mixers Have pulse delay dt.
  • the radar sensor sweeps the pulse delay dt and thus a certain distance range through (continuous change in the pulse delay).
  • Appropriate evaluation software can be used to track (track) several goals.
  • the pulse delay dt is held until the object to be measured has entered the range gate and generates a Doppler frequency at the mixer output (IFout). If the Doppler information is tapped, the radar sensor can switch to a next range gate or pulse delay dt and wait for the next Doppler information.
  • Strategy A (FIG. 2): Starting from the close range sl, the area is searched away from the radar sensor for reflecting objects. This process is aborted at s2.
  • the pulse delay dt is kept at a constant value, which now makes it possible to measure at s2 Doppler frequencies.
  • Strategy C ( Figure 2): A range gate at s5 is approached by a scan of sl. After determining the Doppler frequency or a t-stop, the range between s5 and sl is searched again with an opposite pulse delay. It can thus be ruled out that an object closer than s5 will be overlooked by setting a range gate.
  • the repeated scanning can improve the determination of the distance for a further range gate for an object with several different reflection centers. This also improves performance to suppress false reflections and ambiguities.
  • Strategy D ( Figure 3): Allows an immediate plausibility check of an object that for the first time has come closer than s6 to the radar sensor. This is necessary if a detection decision has to be made at a distance just below s6.
  • Strategy E (FIG. 3): the edge steepness reduces the sensitivity but also the sampling cycle. If an algorithm expects an object with a large radar cross section, a lower sensitivity is sufficient for the presence check. Here, too, the falling edge for the more distant object at s7 provides the earliest possible plausibility check.
  • Strategy F ( Figure 4): Allows a faster plausibility check of any objects as soon as they have been recognized by the signal processing. As soon as a reflection is detected, the pulse delay dt is reduced in the opposite direction in order to obtain increased plausibility and less susceptibility to phantom objects by means of a further reflection.
  • the object slO is checked for plausibility 6 times in a cycle, while sl 1 is checked for plausibility 2 times, i.e. the closest objects are best checked for plausibility.
  • the object at s9 was not further pursued as a phantom object in this example scenario.
  • S8 is the smallest range of the sensor.
  • each object of an object list that was generated from this can be made up of one or more measurement strategies A using Doppler information derived
  • the strategy can also be designed in such a way that after each change of a range gate, a switch is made from distance measurements to speed measurements.
  • the control device 7 can be designed as a microcontroller and can take over the tasks of pulse frequency generation 6 (clock, e.g. 5 MHz), pulse delay, switchover 10 and evaluation 11.
  • the evaluation device 11 can use the determined speed values to determine the limits of the range gates.
  • 5 shows the distance measuring mode in the scan mode. Different range gates have different gray colors.
  • Figure 6 shows the speed measurement mode with detection of half-waves (Doppler frequency).
  • a binary signal is formed from the half-waves in order to determine the zero crossings and thus the Doppler frequency more precisely.
  • FIG. 7 shows an object detection based on an increasing amplitude / gradient in the speed measurement mode.
  • FIG. 8 serves to illustrate the detection of the position of a moving object on the basis of the maximum amplitude reached in the Doppler frequency measurement.
  • a speed offset - vector Vr (r) - within a range gate can also be estimated from the detected position of an object (FIG. 9).
  • FIG. 10 shows how a distance history (distance history) can be created from individual target measurements by collecting individual measurements (collect past peak list) and creating a time / peak diagram. This can be used to create a site analysis and a detection of object patterns based on the progression of the peak list. This is particularly important for the estimation of expected crash situations.
  • Figure 11 shows a pre-crash timing.
  • the distance measurements are time-triggered (a 7m area is scanned within 10 ms).
  • the speed measurements are event triggered in the range from 1.5 to 18 ms. From the
  • the processing of the measured values can be used to estimate crash situations in order to issue warning signals for an expected crash (prefire signal) or parameters for the deployment of an airbag or a correction of the approach speed (preset parameters).

Landscapes

  • 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)

Abstract

L'invention concerne la mesure de la distance et de la vitesse d'objets par des impulsions radar. Pour ce faire, Un mélangeur (8) côté émission met en corrélation, les impulsions radar émises et reçues. Dans un dispositif de commande (7) destiné à la sélection de portes en distance, les impulsions radar côté émission à céder au mélangeur (8) sont modifiées de telle manière que le retard d'impulsion soit augmenté et/ou réduit en continu. Un dispositif de commutation (10) peut être commuté en mode mesure de fréquence Doppler ou remis en mode mesure de distance.
EP03812562A 2002-12-11 2003-12-09 Dispositif de mesure de la distance et de la vitesse d'objets Withdrawn EP1579243A2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10258097 2002-12-11
DE10258097A DE10258097A1 (de) 2002-12-11 2002-12-11 Einrichtung zur Abstands- und Geschwindigkeitsmessung von Objekten
PCT/DE2003/004059 WO2004053520A2 (fr) 2002-12-11 2003-12-09 Dispositif de mesure de la distance et de la vitesse d'objets

Publications (1)

Publication Number Publication Date
EP1579243A2 true EP1579243A2 (fr) 2005-09-28

Family

ID=32403800

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03812562A Withdrawn EP1579243A2 (fr) 2002-12-11 2003-12-09 Dispositif de mesure de la distance et de la vitesse d'objets

Country Status (5)

Country Link
US (1) US20060220943A1 (fr)
EP (1) EP1579243A2 (fr)
JP (1) JP2006508364A (fr)
DE (1) DE10258097A1 (fr)
WO (1) WO2004053520A2 (fr)

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Also Published As

Publication number Publication date
JP2006508364A (ja) 2006-03-09
US20060220943A1 (en) 2006-10-05
WO2004053520A2 (fr) 2004-06-24
DE10258097A1 (de) 2004-07-01
WO2004053520A3 (fr) 2004-08-26

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