EP1810053A1 - Systeme detecteur destine a des vehicules automobiles comportant des detecteurs radar fmcw et permettant de determiner la distance avec resolution angulaire d'un objet par triangulation - Google Patents

Systeme detecteur destine a des vehicules automobiles comportant des detecteurs radar fmcw et permettant de determiner la distance avec resolution angulaire d'un objet par triangulation

Info

Publication number
EP1810053A1
EP1810053A1 EP05796970A EP05796970A EP1810053A1 EP 1810053 A1 EP1810053 A1 EP 1810053A1 EP 05796970 A EP05796970 A EP 05796970A EP 05796970 A EP05796970 A EP 05796970A EP 1810053 A1 EP1810053 A1 EP 1810053A1
Authority
EP
European Patent Office
Prior art keywords
oscillator
signal
sensor modules
signals
phase
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.)
Ceased
Application number
EP05796970A
Other languages
German (de)
English (en)
Inventor
Klaus VOIGTLÄNDER
Hans Irion
Matthias Steinhauer
Wolfgang Menzel
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 EP1810053A1 publication Critical patent/EP1810053A1/fr
Ceased 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
    • 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
    • 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
    • G01S13/08—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
    • G01S13/345—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 using triangular modulation
    • 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
    • G01S13/46—Indirect determination of position data
    • G01S13/48—Indirect determination of position data using multiple beams at emission or reception
    • 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
    • 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
    • G01S7/0232—Avoidance by frequency multiplex
    • 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
    • G01S7/023—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
    • G01S7/0235—Avoidance by time multiplex
    • 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
    • G01S13/02—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
    • 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 present invention relates to a device for angular resolution
  • One way to increase the safety of a vehicle is to automatically detect obstacles in traffic. For this purpose, a determination of the distance of the vehicle to a possible obstacle is required, as well as a determination of the direction in which the obstacle is located.
  • the direction to the obstacle must be determined to distinguish between obstacles that are on the road or at the edge of the road.
  • One way to increase the comfort of the vehicle is to determine the speed of a preceding vehicle in dense traffic and automatically adjust the speed of your own vehicle. This requires the distance be determinable to the vehicle in front, its speed and whether this vehicle is on the same lane or offset to the own vehicle in a second lane. These are two possible uses for a radar system in the vehicle sector, another would be, inter alia, a parking aid. All of these methods require a device which allows the distance and
  • a primary source is provided for microwaves, the emission of which is focused by means of suitable optics onto a beam with a half-width of 3-4 ° and then by means of a deflection optics 3-4
  • the portions reflected by an object are detected separately with a detection device.
  • An amplitude comparison of the reflected components for the individual beams makes it possible to determine the direction in which the object is located.
  • the achievable angular resolution, as well as the covered angle range are disadvantageously determined by the mechanical structure and thus limit the range of application of the sensor.
  • Another method provides to determine from the phase of the reflected rays, the geometric arrangement of the object to a sensor array.
  • a sensor arrangement provides that a suitable transmitting device illuminates the entire desired viewing area and a plurality of receiving devices detect the signals reflected by the object. The receiving devices determine the phase of the individual reflected signals and a signal processing device calculates, based on these phase signals, the different path lengths that the reflected signals have covered and thus the geometric arrangement of the object to the vehicle.
  • a disadvantage of this arrangement is that a high output power of the transmitting device is required because for all receiving devices a part of the transmission signal must be provided for a receiving mixer and due to the strong attenuation of the frequencies used in the range of 76-81, 122-
  • Another sensor arrangement provides to use only one receiver device and to connect these temporally sequentially with a plurality of antenna devices.
  • the disadvantage of this device is that the duration for a measurement with all antenna devices due to the multiplexing process is too long for this device to be used for dynamic situations in traffic.
  • a further sensor arrangement provides for combining the receiving device with the transmitting device and for connecting the receiving device to a plurality of antenna devices in chronological succession.
  • This device also has the disadvantage of a too long measurement time.
  • the idea underlying the present invention is to arrange a plurality of sensor modules at intervals with each sensor module having a local oscillator device.
  • the oscillator device generates an oscillator signal, which is forwarded to a transceiver device, and the oscillator signal is radiated.
  • the transceiver is arranged to receive signals reflected from the object.
  • a phase detection device is coupled to an input with the oscillator device and with a second input to the transceiver. Based on the oscillator signal and the received reflected signals, the phase detection means determines a phase signal.
  • Signal processing device determines a direction of the object to the sensor module based on the distances between the sensor modules to each other and the phase signals.
  • the present invention has the advantage over the known approach that each sensor module has its own local oscillator device.
  • Distribution device for distributing the microwave signal from a central oscillator device to the individual sensor modules is therefore not required and thus the losses of the device are kept low.
  • the method according to the invention for an angle-resolved distance determination for an object using the device according to the invention provides that at least one of the transmitter / receiver devices of the sensor modules transmits the oscillator signal.
  • the reflected rays from the object are received by the transmitting / receiving device from a direction of the object.
  • a phase signal is determined, which in turn is the basis for determining the direction of the object to a sensor module by means of the control and signal processing means.
  • the distances of the sensor modules to each other are equidistant or in a further preferred embodiment, the distances are different in size. Equidistant distances have the advantage that a high signal to noise ratio can be achieved. By contrast, an arrangement with different sized spacings has the advantage that this reduces the number of ambiguities for the direction determination.
  • a co -imation device comprising a lens and / or a dielectric polyrod is arranged in the emission direction of one of the sensor modules.
  • a quasi-optical filter is arranged in the emission direction of one of the sensor modules, with which a suppression of ambiguities can be achieved from certain directions.
  • At least one of the phase detection devices has a controllable filter device with an adjustable filter characteristic.
  • At least one of the sensor modules has a controllable oscillator device with adjustable oscillator frequency.
  • the control and processing device is connected to at least one of the sensor modules in order to adjust the filter device and / or the oscillator frequency of the sensor module with control signals. This allows the
  • the phase detection device has a
  • the phase detection device is set up such that the phase signal can be determined by direct sampling of the received reflected signal.
  • At least two oscillator devices are not synchronized with one another.
  • a synchronization device is provided with which at least two oscillator devices can be synchronized.
  • the oscillator means may comprise a phase locked loop. This allows the oscillator device with the aid of a low-frequency signal to synchronize each other.
  • the sensor modules are arranged along a line or flat.
  • the oscillator signals of two sensor modules are adjusted by means of the control and signal processing device such that they have different oscillator frequencies.
  • control and signal processing device changes the oscillator frequency of the oscillator module according to a
  • the oscillator frequency of the oscillator modules is changed according to the same frequency ramp after a time offset, wherein the time offset for the individual sensor modules is different. In this way, the individual
  • an FMCW (frequency modulated continuous wave) method for determining the distance of the object to the sensors can be made possible by the frequency ramp.
  • a filter characteristic of a filter device of the phase detection device of at least one of the sensor modules is set such that the phase detection device only determines phase signals which are based on the signals emitted by this sensor module. This allows parallel operation of the sensor modules with high angular resolution.
  • the phase detection device only detects phase signals which are based on signals radiated by a second sensor module.
  • Figure 1 is a schematic representation of an embodiment of the present invention
  • Figure 2 is a schematic side view of an embodiment of the present invention
  • Figure 3 is a second schematic side view of the embodiment from a second orthogonal direction
  • Figures 4a - 4d are schematic representations of four embodiments of a sensor module
  • Figure 5 is a schematic representation of an interconnection of an embodiment
  • Figure 6 is a schematic representation of a synchronization of two oscillator devices
  • Figure 7 is a schematic representation of a frequency characteristic
  • Figure 8 is a schematic representation of a frequency response of an embodiment of the present invention. DESCRIPTION OF THE EMBODIMENTS
  • FIG. 1 shows a schematic illustration of an embodiment of a present invention in a side view.
  • a plurality of sensor modules 2 1 , 2 2 , 2 3 , 2 n are arranged on a support 1.
  • This carrier 1 may, for. B. attached to a surface on a front side of a vehicle.
  • the sensor modules 2 1 , 2 2 , 2 3 , 2 n are arranged along a spatial direction x with the distances di, d 2 .
  • the distances di, d 2 can be in the range of 1 mm to 4 cm.
  • the distances 2 1 , 2 2 , 2 3 , 2 n between the transmission modules 2 1 , 2 2 , 2 3 , 2 n and the object K are generally of different lengths.
  • the distances S 1 , S 2 , S 3 , S n take an angle a 1 , a 2 , a 3 , a n to the direction y, which also differ. From geometrical considerations it follows that the angles a 1 , a 2 , a 3 , a n can be unambiguously determined from the lengths of the distances S 1, S 2 , S 3 , S n and the distances d 1 , d 2 .
  • the angles a 1 , a 2 , a 3 , a n are also referred to as the direction of the object K to the sensor modules S 1 , S 2 , S 3 , S n .
  • each sensor module 2 1 , 2 2 , 2 3 , 2 n transmits an oscillator signal having an oscillator frequency.
  • These oscillator signals are from the
  • each transmit module 2 1 , 2 2 , 2 3 , 2 n only takes into account the reflected signal which emerges from an oscillator signal sent by these transmit modules 2 1 , 2 2 , 2 3 , 2 n .
  • Sensor modules 2 1 , 2 2 , 2 3 , 2 n specific phase differences are dependent on the lengths of the distances S 1 , S 2 , S 3 , S n between the sensor modules 2 1 , 2 2 , 2 3 , 2 n and the object K.
  • the phase differences are fed as phase signals to a signal processor, which based on the differences of the phase signals, the length differences of the Distances S ⁇ S 2 , S 3 , S n and the angles a 1 , a 2 , a 3 , a n can determine.
  • a relative phase information of the individual oscillator signals of the various sensor modules 2 1 , 2 2 , 2 3 , 2 n to each other is not required, only the phase difference of the respective oscillator signal to the reflected signal must be determined by the respective sensor modules.
  • the angles can be determined by means of a Fourier transformation and / or adaptive methods such. For example, the so-called “minimum variance beamforming" can be determined, and corresponding methods are used for radar and sonar systems.
  • ambiguities arise, which inter alia depend on the distances di, d 2 .
  • d 2 of a wavelength of the oscillator signal results in an ambiguity for an angle a 1 , a 2 , a 3 , a n and the angle , which are 30 ° or smaller than the angle a 1 , a 2 , a 3 , a n .
  • the angular range in which an ambiguity results is smaller and, accordingly, more ambiguities arise within the observed angular range.
  • the distances di, d 2 are in the range of / 2 to 5, wherein the wavelength of the oscillator signal indicates.
  • the oscillator frequencies of the individual sensor modules 2 1 , 2 2 , 2 3 , 2 n may be different. At a minimum, in one embodiment they are chosen differently for each time. In this way, an assignment of the reflected signals to the individual sensor modules 2 1 , 2 2 , 2 3 , 2 n is possible.
  • a time-multiplexing method may be used in which the sensor modules 2 1 , 2 2 , 2 3 , 2 n transmit an oscillator signal offset in time from one another and receive the reflected signals.
  • a further embodiment of the present invention provides that not all sensor modules 2 1 , 2 2 , 2 3 , 2 n transmit an oscillator signal.
  • the sensor module 2 1 sends an oscillator signal, and the reflected components of the oscillator signal are received by the sensor modules 2 1 , 2 2 , 2 3 , 2 n .
  • Phase difference of the reflected signal, which receives the sensor module 2 2, to an oscillator signal of the sensor module 2 2 is determined by the fact that the oscillator signal of the sensor module is synchronized to 2 2 the oscillator signal of the sensor module 2. 1
  • the thus determined phase differences are transmitted from sensor modules 2 1 , 2 2 , 2 3 , 2 n as phase signals to a signal processing device and based on the differences of the phase signals, the lengths of the distances S 1 , S 2 , S 3 , S n and the angle a 1 , a 2 , a 3 , a n are determined.
  • the advantage of a single transmitter is that neither frequency nor time division multiplexing is needed. For two or more transmitting sensor modules 2 1 , 2 2 , 2 3 , 2 n corresponding multiplexing methods are to be used.
  • the sensor modules 2 1 , 2 2 , 2 3 , 2 n are arranged so that they do not all send an oscillator signal.
  • a second possibility of achieving only a single quasi-active is to set the oscillator frequency of the transmission module 2 1 to a first oscillator frequency and oscillator frequencies of the other
  • Sensor modules 2 1 , 2 2 , 2 3 , 2 n set to another or more other oscillator frequencies.
  • a filter device which can base only phase signals with the first oscillation frequency of the sensor module 2 1 . In this way, the phase signals based on the oscillator signals of the second sensor modules 2 1 , 2 2 , 2 3 , 2 n are suppressed.
  • Figure 2 shows a schematic side view of an embodiment of the present invention.
  • a support 1 which may be mounted on a vehicle, a plurality of sensor modules 2 1 , 2 2 , 2 3 , 2 n spaced with the distances di, d 2 are arranged.
  • a plurality of sensor modules 2 1 , 2 2 , 2 3 , 2 n spaced with the distances di, d 2 are arranged.
  • Polyrods 3 can be arranged.
  • the polyrod 3 are tapered dielectric rods that can be used as a co-ordinator.
  • the transmission and reception angle of the sensor module is limited to about ⁇ 20 °.
  • the signal processing device must be provided with corresponding calculation routines which take into account only angles within the transmission and reception angles.
  • an optical lens 5 for example a cylindrical lens, the signal intensity is increased in a desired angular range and thus enables an improvement of the signal-to-noise ratio. Further suppression of the ambiguities can be achieved by a so-called quasi-optical filter 6.
  • This quasi-optical filter 6 consists of a plurality of dielectric layers, which are arranged in the direction y to each other.
  • the quasi-optical filter 6 has a transmission characteristic, which depends on the frequency of the signal and the angle of incidence of the signal to the quasi-optical filter 6. This is used to transmit signals with an oscillation frequency from one direction and to suppress them from other directions.
  • the information about the filter characteristic is supplied to the signal processing for suppressing the ambiguities.
  • FIG. 3 shows a side view of the preceding embodiment from a second spatial direction.
  • An arrangement of the sensor modules 2 1 , 2 2 , 2 3 , 2 n can be done in one or more rows.
  • the sensor modules can be 2 1 , 2 2 , 2 3 , 2 n individual integrated components, or can be produced together on the carrier 1 integrated.
  • FIGS. 4a-d Four embodiments of a sensor module 2 are shown in FIGS. 4a-d.
  • FIGS. 4a and 4b each show a heterodyne and 4c and 4d each a homodyne detection.
  • a local oscillator 21a is shown, which with a
  • the local oscillator 21a generates an oscillator signal having a frequency in the range of 76-81 GHz, 122-123 GHz (see above) or 126-145 GHz.
  • the local oscillator 21 may be arranged so that its oscillation frequency is adjustable.
  • the local oscillator 21a may include a phase-locked loop that allows synchronization of the oscillator signal with a low-frequency applied signal.
  • the oscillator device is connected via a path to a transceiver device 20.
  • the transmitting / receiving device 20 has an antenna device. The transmitting / receiving device can be unlocked and then sends the oscillator signal 110 via the antenna device. About the Transceiver, a reflected signal 111 can be received.
  • Phase detection means 30, a second local oscillator 21 b whose oscillator signal is mixed with the oscillator signal 110 of the local oscillator 21a and the reflected signal 111 by means of two mixers 25a and 25b.
  • the two signals mixed in this way are supplied to a third mixer 24, thus demultipulating the reflected signal 111 with the oscillator signal.
  • the mixer 24 may be a push-pull mixer.
  • the demixed signal 112 includes a phase signal 100 that depends on the phase difference of the oscillator signal 110 and the reflected signal.
  • a filter device 27 is connected downstream of the mixer 24 in order to filter out higher-frequency components of the demixed signal 112.
  • the filter device 27 may have an adjustable filter characteristic. The filter characteristic of the filter
  • the filter characteristic of the filter 27 can have a correspondingly broad filter band.
  • the filter characteristic is adjusted so that only reflected signals 111 are taken into account in the phase signal, which have the same frequency as the oscillator signal of a primary or central sensor module 2 1 .
  • the coupling device 24b is replaced by a circulator device 26.
  • FIGS. 4c and 4d show a homodyne detection device.
  • Phase detection device 30 has in both cases only one mixing device 24.
  • the mixer 24 is supplied with portions of the oscillator signal 110 and the reflected signal 111 via two coupling means 23a and 23b.
  • the demixed by the mixer 24 signal 112 is as before a Filter device 27 is supplied to determine the phase signal 100.
  • the coupling device 23 b is replaced by a circulator device 26.
  • FIG. 5 shows a schematic representation of the signal routing of an embodiment of the present invention.
  • the sensor modules 2 1 , 2 2 , 2 3 , 2 n each give their
  • Phase signals 100 1 , 100 2 , 100 3 , 100 n off.
  • the phase signals 100 1 , 100 2 , 100 3 , 100 n are respectively determined and output in parallel in the described frequency-division multiplexing method or in a time-multiplexing method.
  • the phase signals 100 1 , 100 2 , 100 3 , 100 n are fed to a conversion device 8.
  • the conversion device 8 has an analog-to-digital converter. The digitized
  • Phase signals 100 1 , 100 2 , 100 3 , 100 n are supplied to a signal processing and control device 10.
  • This signal processing and control device 10 determines, based on the digitized phase signals 100 1 , 100 2 , 100 3 , 100 n, the lengths of the distances S 1 , S 2 , S 3 , S n and the angles a 1 , a 2 , a 3 , a n .
  • the signal processing and control device via control signals 102 1 ,
  • control signals can be provided which enable the transceiver modules 20 so that the transceivers 20 send the oscillator signal 110.
  • FIG. 6 shows a schematic representation of a synchronization of two oscillator devices.
  • An oscillator device 21 of a first sensor module 2 1 is connected to a first phase-locked loop 29 1 .
  • an oscillator device 21 2 is connected to a second phase-locked loop 29 2 .
  • the phase-locked loops 29 1 and 29 2 are equipped with a low-frequency oscillator device
  • the signal processing device interprets this erroneously as an angle between the signal paths S 1 , S 2 , S 3 , S n . Since the phase difference is proportional to the product of the oscillator frequency and the length of the signal path S 1 , S 2 , S 3 , S n , the errors in the angle determination increase with increasing oscillator frequency and increasing distance of the object K.
  • FIG. 7 shows a further embodiment of the present invention which provides for changing the oscillator frequency w according to the illustrated frequency curve over time t.
  • the frequency is changed according to one or more frequency ramps 201, 202, 203, 204 with different slope.
  • the duration of a ramp is T.
  • a modulation method which uses the frequency characteristic shown in FIG. 7 is the continuous-wave frequency modulation method (FMCW). This
  • Frequency modulation method is suitable for use in vehicles due to its ease of implementation.
  • the various slopes of the ramps 201, 202, 203, 204 make it possible to distinguish the contribution of the length of the signal path S 1 , S 2 , S 3 , S n and a Doppler shift by a moving object K to the determined phase difference.
  • FIG. 8 shows the profile of the oscillator frequency for the oscillator signals of the individual sensor modules 2 1 , 2 2 , 2 3 , 2 n . These change their oscillation frequency w in accordance with the frequency characteristic of FIG. 7, but the frequency characteristics are carried out with a short time offset dt to one another. Thus, at one time all frequencies are the
  • Sensor module 2 different and have at least the frequency difference dw on.
  • the phase signals which are each time offset by dt can be used to evaluate the phase signals.
  • An error results in the determination of the angle characterized in that the vehicle and / or the object K moves within the time span dt and thus within this period corresponding to the angle a 1 , a 2 , a 3 , a n and the signal paths S 1 , S 2 , S 3 , S n change.
  • the time difference dt is significantly less than the duration T to choose a ramp.
  • the modulation speed is so fast that within a period the vehicle moves only slightly and thus the errors in the angle determination remain very small.

Abstract

La présente invention concerne un dispositif ayant une pluralité de modules détecteurs 2, 21,22, 23, 2n placés à des distances d1, d2 les uns des autres. Chaque module détecteur 2, 21,22, 23, 2n a un dispositif oscillateur local. Le dispositif oscillateur génère un signal d'oscillateur qui est transmis à un dispositif émetteur/récepteur et le signal d'oscillateur est émis. Le dispositif émetteur/récepteur est installé de manière à pouvoir recevoir des signaux réfléchis par l'objet. Le dispositif de détection de phase est couplé par une première entrée au dispositif oscillateur et par une deuxième entrée au dispositif émetteur/récepteur. Le dispositif de détection de phase détermine un signal de phase sur la base du signal d'oscillateur et des signaux réfléchis reçus. Un dispositif de commande et de traitement de signaux détermine la direction a1, a2, a3, an entre l'objet et le module détecteur sur la base des distances des modules détecteurs et les signaux de phase.
EP05796970A 2004-10-29 2005-09-08 Systeme detecteur destine a des vehicules automobiles comportant des detecteurs radar fmcw et permettant de determiner la distance avec resolution angulaire d'un objet par triangulation Ceased EP1810053A1 (fr)

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DE102004052518A DE102004052518A1 (de) 2004-10-29 2004-10-29 Vorrichtung und Verfahren zur winkelaufgelösten Entfernungs- und Geschwindigkeitsbetimmung eines Objekts
PCT/EP2005/054458 WO2006045668A1 (fr) 2004-10-29 2005-09-08 Systeme detecteur destine a des vehicules automobiles comportant des detecteurs radar fmcw et permettant de determiner la distance avec resolution angulaire d'un objet par triangulation

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EP1810053A1 true EP1810053A1 (fr) 2007-07-25

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US (1) US7764221B2 (fr)
EP (1) EP1810053A1 (fr)
CN (1) CN101052892A (fr)
DE (1) DE102004052518A1 (fr)
WO (1) WO2006045668A1 (fr)

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US7764221B2 (en) 2010-07-27
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US20080150790A1 (en) 2008-06-26
CN101052892A (zh) 2007-10-10

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