EP1969394A1 - Dispositif radar - Google Patents

Dispositif radar

Info

Publication number
EP1969394A1
EP1969394A1 EP06819763A EP06819763A EP1969394A1 EP 1969394 A1 EP1969394 A1 EP 1969394A1 EP 06819763 A EP06819763 A EP 06819763A EP 06819763 A EP06819763 A EP 06819763A EP 1969394 A1 EP1969394 A1 EP 1969394A1
Authority
EP
European Patent Office
Prior art keywords
frequency signal
local oscillator
transmitting
signal
antenna element
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
EP06819763A
Other languages
German (de)
English (en)
Inventor
Joerg Schoebel
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 EP1969394A1 publication Critical patent/EP1969394A1/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
    • G01S13/88—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
    • G01S13/003—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
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/034—Duplexers
    • G01S7/036—Duplexers involving a transfer mixer
    • 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
    • G01S2013/0236—Special technical features
    • G01S2013/0245—Radar with phased array antenna
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control

Definitions

  • the present invention relates to a radar device, in particular a radar device for use in the automotive sector.
  • driver assistance systems should be used in the automotive sector.
  • Adaptive cruise control known, which are used for vehicle speeds in the range of 50 to 180 km / h.
  • driver assistance systems should also be provided, which control the vehicle even in heavy traffic or in traffic jams the speed of the vehicle.
  • it is thought to decelerate the vehicle to a standstill, if the vehicle in front stops.
  • Other auxiliary systems can be used to monitor areas that the driver can not or poorly see, as well as when reversing or when parking.
  • An essential component of these driver assistance systems are radar devices which can determine the speed of preceding vehicles and the distance to them.
  • an angle-resolved measurement of the distance and / or the speed is needed to distinguish a preceding vehicle from a vehicle, which may be e.g. parked in a parking bay next to the roadway.
  • One approach for achieving the angular resolution here is based on the so-called analog beam shaping.
  • Lenses, mirrors or diaphragms emit and / or receive the radiation of high-frequency signals from a plurality of feed antennas in a plurality of partially partially overlapping directions. On the basis of signal amplitudes of the received reflected high-frequency signals, it can be determined in which direction the detected object is located.
  • a disadvantage of the analog beam shaping is the relatively large mechanical structure of the antenna devices due to the lenses with a depth of several centimeters.
  • Another method is based on the so-called digital beam forming. In this case, a high-frequency signal is emitted by an antenna and the reflected signal is received by a plurality of spatially mutually spaced receiving antennas.
  • the distance of the individual receiving antennas to the object are slightly different.
  • the transit times of the reflected signals differ from the object to the receiving antennas.
  • the transit time differences are determined as the difference in the phase of the corresponding received reflected signals.
  • the direction to the object can then be determined from the phase differences.
  • the angular range is predetermined, in which a clear direction determination is possible and at the same time predetermines the accuracy of the angular resolution.
  • the requirements for the angular range and the angular resolution are different.
  • On the highway are usually only the vehicles of interest, which are located at a distance of 50 to 200 m (long range) in front of the vehicle on the same or on the adjacent lane. Detection of these objects and angle determination requires a high intensity density per angular volume to obtain a sufficient signal-to-noise ratio between received reflected signal components and signals from noise sources.
  • a parking aid requires almost all-round visibility around the entire vehicle, but only a detection of objects at a distance of a few decimeters to meters (near range). For this latter application thus antennas are required with a broad emission characteristic, but no high signal intensity.
  • the radar device according to the invention with the features of independent claim 1 can be realized compact with simple components and detect objects in a near area and objects in a long range.
  • the radar device comprises a local oscillator and a plurality of monostatic transmitting and receiving devices.
  • the local oscillator is used to generate a high-frequency signal and is coupled to the plurality of monostatic transmitting and receiving devices.
  • Each monostatic transmitting and receiving device of the plurality of monostatic transmitting and receiving devices has an antenna element and a first delay path.
  • the Antenna element is used to transmit the high frequency signal and to receive reflected portions of the high frequency signal.
  • the first delay path for delaying the high-frequency signal by an invariable duration is connected between the antenna element and the local oscillator.
  • the monostatic structure which uses an antenna element for both transmission and reception, can be made very compact. In particular, the fact that the number of necessary antennas is approximately halved.
  • the radiation characteristic of the radar apparatus is determined by the individual delay of the high frequency signal before being radiated by the antenna elements.
  • suitable signal delay paths with their fixed delay periods, a variety of emission characteristics can be formed by means of constructive and destructive interference of the radiated radio-frequency signals.
  • filter structures With the aid of filter structures, both lagging and leading phase shifts of the high-frequency signal can be generated.
  • the radar device may comprise a plurality of transmitting devices, each including an antenna element and a second signal delay line.
  • the second signal delay path corresponds to the first signal delay paths.
  • the antenna element is set up exclusively for transmitting the high-frequency signal. In this way, it can be achieved that a more favorable shaping of the emission characteristics is achieved by the very simple to set up transmitter devices which require, inter alia, no mixer.
  • first and / or the second signal delay path is formed by a first line having a predetermined length.
  • the line can in this case be rectilinear, wave-shaped or meander-shaped.
  • at least one second line with its second end can be connected to the first line, wherein a first end of the second line is open or short-circuited.
  • An embodiment of the present invention provides that the first / or the second signal delay path is formed by a filter structure, which in turn consists of one or more series and / or parallel circuits of one or more substantially inductive or capacitive elements. These elements can be realized as discrete components or as (planar) line structures.
  • the monostatic transmitting and receiving device has a mixing device which is connected in series with the delay line and between the antenna element and the local oscillator.
  • the mixing device may comprise a circulator, a directional coupler, a hybrid mixer or a transfer mixer, which couples a high-frequency signal to be transmitted from the local oscillator into the antenna element and which isolates the local oscillator from a received high-frequency signal.
  • the antenna elements may be formed as at least one patch antenna.
  • the patch antennas of a transmitting element can be connected in series.
  • An embodiment provides to realize the radar device planar on a support.
  • the carrier may comprise a flexible or rigid substrate on which printed conductors are applied, which form the antenna elements and / or the delay lines.
  • the antenna elements may have a distance from one another which corresponds to half of a (free space) wavelength of the high-frequency signal. In another embodiment, the distance can also correspond to greater than half the wavelength of the high-frequency signals.
  • a power divider and / or an amplifying device can be connected between the local oscillator and the monostatic transmitting and receiving devices, whereby the power of the transmitted high-frequency signal of the individual transmitting and receiving devices for each transmitting and receiving device is set individually to a predetermined value.
  • the power supply for transmitting and receiving devices which are centered in the
  • Radar device are arranged, decrease to transmitting and receiving devices, which are arranged at the edge of the radar device.
  • FIG. 1 shows a block diagram of an exemplary embodiment of the radar device according to the invention.
  • Figure 2 a second exemplary embodiment of the radar device according to the invention.
  • FIG. 3 schematic representation of a radiation characteristic of one of the
  • Embodiments as intensity distribution over a radiation angle.
  • Figures 4-7 Layout diagrams illustrating four embodiments.
  • FIG. 8-12 Circuit diagrams of mixers for use in the previous ones
  • FIG. 1 shows the block diagram of a first exemplary embodiment of a radar device.
  • a local oscillator 7 is connected to a plurality of monostatic transmitting and receiving devices 6a, 6b, ... for providing a high-frequency signal LO.
  • the monostatic transmitting and receiving devices 6a, 6b, ... emit the high-frequency signal LO as a high-frequency signal Tx to be emitted.
  • the signal portions of the emitted high-frequency signal reflected by an object are received as received high-frequency signals Rx.
  • Each of the monostatic transmitting and receiving devices 6a and 6b,... Comprises an antenna device Ia, Ib,..., A mixing device 4a, 4b,... And at least one signal delay path 2a, 2b,..., 3a, 3b, ..., on.
  • the high-frequency signal LO provided by the local oscillator 7 is delayed in time by a first delay line 2a, and forwarded to the mixing device 4a, 4b,.
  • the mixing device forwards a signal component to the antenna device Ia, Ib,... As a high-frequency signal Tx to be emitted.
  • the signal can be delayed in time by the second signal delay line 3a, 3b, ....
  • the signal components of the emitted high-frequency signal Tx reflected by the object are received by the antenna devices 1a, 1b,... Of the transmitting and receiving device 6a, 6b as received high-frequency signals Rx.
  • the received high-frequency signals Rx optionally pass through the second signal delay line 3a, 3b,... And are then demixed in the mixing device 4a, 4b,... With the local oscillator signal LO to form an intermediate frequency signal ZF.
  • the intermediate frequency signal ZF is decoupled and fed to an evaluation device, which is not shown in FIG.
  • the mixing device 4a, 4b, ... insulates the
  • the embodiment illustrated in FIG. 1 permits emission of the emitted high-frequency signal Tx with an intensity distribution I, as represented in FIG. 2 by the angle ⁇ .
  • the direction ⁇ 0 denotes the vehicle direction.
  • the emitted high frequency signal Tx has an intensity I about 10 dB higher than in the angle range between minus 60 degrees to minus 15 degrees and plus 15 degrees to plus 60 degrees.
  • the intensity I falls to negligible low values.
  • This radiation profile corresponds to the requirements for vehicle assistance systems, which are intended to detect a long-range and a close range in parallel.
  • the following will explain the basic principles necessary for understanding the embodiment of FIG. 1 in order to adapt the signal delay paths 2a, 2b or 3a, 3b and to obtain the described intensity profile in FIG.
  • the high-frequency signals Tx emitted by the individual antenna devices Ia, Ib,... Have a fixed phase relation to each other, since they are all from the same source, i. the local oscillator 7, are fed. In the radiation profile thus arise areas of destructive and constructive interference.
  • the exact interference pattern depends on the spatial arrangement of the antenna devices Ia, Ib,... And the frequency of the high-frequency signal Tx.
  • the duration of the high-frequency signal LO in the electronic circuits and line paths to the antenna devices Ia, Ib, ... has a decisive influence on the interference pattern.
  • the signal delay lines 2a, 2b,..., 3a, 3b,... Enable the propagation delays to the corresponding antenna devices 1 a, 1 b,.
  • a designer, the radar device shown in Fig. 1 is given the opportunity to realize different interference pattern and thus radiation characteristics.
  • the procedure would be as follows: First, it sets a desired intensity profile I, e.g. from FIG. 2. Thereafter, it iteratively or by means of suitable adaptation algorithms adjusts the delay lines 2a, 2b, 3a, 3b,... in such a way that an interference pattern results, which agrees sufficiently with the desired intensity profile.
  • the delay lines 2a, 2b, 3a, 3b, ... are preferably simple line sections with a fixed length. The length is determined by the designer as described previously. To the To integrate delay lines 2a, 2b, 3a, 3b, ... in the circuit construction, it may be advantageous to arrange this view of the local oscillator 7 before and / or after the mixing device 4a, 4b,.
  • FIG. 3 shows a second exemplary embodiment of the radar device as a block diagram, in addition to the components and devices already described in FIG. 1, transmission devices 16e, 16f,... Are connected to the local oscillator 7. These transmission devices 16e, 16f,... Have only one antenna device 1ee, 1ff, and one signal delay path 12e, 12f,. The omission of a mixing device allows these transmitting devices 16e, 16f to build more compact and to arrange them more flexible.
  • Fig. 4 is a plan view of an embodiment is shown, which corresponds to the block diagram of Fig. 3.
  • the local oscillator 7 is connected via a distributor device 9 to the monostatic transmitting and receiving devices 6a, 6b,... And the transmitting devices 16e, 16f.
  • each monostatic transmitting and receiving device and each transmitting device 16e six patch antennas Ia, Ib, 1 Ie, ... on.
  • Each of these patch antennas can be realized by a conductive surface, shown here as squares.
  • the individual patch antennas Ia, Ie, ... are connected in series by interconnects.
  • the signal delay lines 3a, 3b, 12e, ... connect the patch antennas connected in series with the distributor device 9.
  • the signal delay devices 3a, 3b, 12e, ... have partially different lengths, as shown in FIG.
  • the track has a deflection in this area, which is directed away from the direct and shortest connection.
  • the size and number of excursions determines the length of the signal delay paths and thus the signal propagation delay caused by them.
  • the mixing devices 4a,... are shown schematically as T-shaped transfer mixers. Their structure and operation will be explained in more detail below.
  • FIG. 5 shows an exemplary embodiment of a radar device which substantially corresponds to the block diagram of FIG.
  • the additional pure transmitting devices with respect to the embodiment of Fig. 4 is omitted. Otherwise, these embodiments do not differ.
  • FIG. 6 shows a further exemplary embodiment of the radar device.
  • a plurality of monostatic transmitting and receiving devices 26a, 26b,... And transmitting devices 36e, 36f are connected via a distributor device 9 to a local oscillator 7.
  • the monostatic transmitting and receiving devices 26a, 26b, ... have in this embodiment a Reinforcement means 30a, 30b, 30c.
  • These amplifying devices 30a, 30b, 30c feed in pairs two parallel monostatic transmitting and receiving devices 26e, 26f with a different signal strength.
  • the signal strength or intensity of each individually emitted by the monostatic transmitting and receiving devices 26a, 26b, ... high-frequency signal Tx affects the intensity profile I of the radiation of the entire radar device.
  • a determination of the amplification takes place analogously to the necessary delays through the delay lines 3a, 3b, 12e,... By means of an iterative method or an adaptation algorithm.
  • a further embodiment is shown, which differs by the realization of the signal delay lines 23a, 23b, ... from the previous embodiment.
  • wave-shaped or curved strip conductors as signal delay lines 3 a, 3 b, 12 e, ... are connected perpendicular to a straight conductor at least one conductor track with an open end.
  • two parallel interconnects with an open end are shown.
  • a high-frequency signal fed from the local oscillator 7 into a monostatic transmitting and receiving device 46a, 46b branches at the T-shaped connections and is then at least partially reflected at the open end.
  • the returning reflected wave interferes with the input high-frequency signal LO and results in a phase shift thereof.
  • the length of the interconnects with an open end determines the phase delay experienced by the RF input signal LO.
  • mixers are shown by way of example, which can be used for the mixing devices 4a. These are suitable to a high-frequency signal LO in one
  • FIG 8 shows a circulator 42 which is placed between the antenna device and the local oscillator.
  • a third output of the circulator 42 is connected to a mixer 43, which receives as a second input signal the high-frequency signal f ⁇ of the local oscillator.
  • Figure 9 shows a structure which uses a coupler 52 instead of the circulator.
  • FIG. 10 shows a so-called transfer mixer which uses the nonlinearity of a diode 63 to demix the received high frequency signal Rx with the high frequency signal LO of the local oscillator.
  • a simplified structure with a T-shaped connection of the diode 74 to the local oscillator and the antenna device 4 is shown in Figure 11.
  • FIG. 12 shows a transfer mixer with a diode 81 which is connected in series between the Antenna device 4 and the local oscillator is connected, such a structure is known inter alia from the published patent application DE 102 35 338 Al.

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

La présente invention concerne un dispositif radar qui présente un oscillateur local et une pluralité de dispositifs monostatiques d'émission et de réception. L'oscillateur local sert à générer un signal haute fréquence et est couplé à la pluralité de dispositifs monostatiques d'émission et de réception. Chaque dispositif monostatique d'émission et de réception de la pluralité de dispositifs monostatiques d'émission et de réception présente un élément d'antenne et un parcours de temps de propagation. L'élément d'antenne sert à l'envoi du signal haute fréquence et à la réception de parties réfléchies du signal haute fréquence. Le premier parcours de temps de propagation permettant de retarder le signal haute fréquence d'une durée non modifiable est placé entre l'élément d'antenne et l'oscillateur local.
EP06819763A 2005-12-28 2006-11-24 Dispositif radar Ceased EP1969394A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005062772A DE102005062772A1 (de) 2005-12-28 2005-12-28 Radarvorrichtung
PCT/EP2006/068909 WO2007077062A1 (fr) 2005-12-28 2006-11-24 Dispositif radar

Publications (1)

Publication Number Publication Date
EP1969394A1 true EP1969394A1 (fr) 2008-09-17

Family

ID=37685911

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06819763A Ceased EP1969394A1 (fr) 2005-12-28 2006-11-24 Dispositif radar

Country Status (3)

Country Link
EP (1) EP1969394A1 (fr)
DE (1) DE102005062772A1 (fr)
WO (1) WO2007077062A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007038513A1 (de) * 2007-08-16 2009-02-19 Robert Bosch Gmbh Monostatischer Mehrstrahlradarsensor für Kraftfahrzeuge
DE102007060769A1 (de) * 2007-12-17 2009-06-18 Robert Bosch Gmbh Monostatischer Mehrstrahl-Radarsensor, sowie Verfahren
DE102008004644A1 (de) * 2008-01-16 2009-07-23 Robert Bosch Gmbh Monostatische Mehrstrahlradarsensorvorrichtung für ein Kraftfahrzeug
DE102009002082A1 (de) * 2009-04-01 2010-10-07 Robert Bosch Gmbh Mehrstrahlradarsensorvorrichtung und Verfahren zum Bestimmen eines Abstandes
DE102010041755A1 (de) * 2010-09-30 2012-04-05 Siemens Aktiengesellschaft Radarsystem

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19714570A1 (de) * 1997-04-09 1998-10-15 Bosch Gmbh Robert Mehrstahliges Radarsystem

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1290980B1 (it) * 1989-06-07 1998-12-14 Marconi Co Ltd Circuito di alimentazione per antenne radar
EP0778953B1 (fr) * 1995-07-01 2002-10-23 Robert Bosch GmbH Detecteur radar monostatique a modulation de frequence et a ondes entretenues
DE19719953B4 (de) * 1997-05-14 2008-09-11 Robert Bosch Gmbh Kraftfahrzeug-Radarsensor
US5874915A (en) * 1997-08-08 1999-02-23 Raytheon Company Wideband cylindrical UHF array
DE19948025A1 (de) * 1999-10-06 2001-04-12 Bosch Gmbh Robert Asymmetrischer, mehrstrahliger Radarsensor

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19714570A1 (de) * 1997-04-09 1998-10-15 Bosch Gmbh Robert Mehrstahliges Radarsystem

Also Published As

Publication number Publication date
DE102005062772A1 (de) 2007-07-05
WO2007077062A1 (fr) 2007-07-12

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