EP2171496A1 - Dispositif de détection avec un champ d'application variable azimutal pour véhicule automobile - Google Patents

Dispositif de détection avec un champ d'application variable azimutal pour véhicule automobile

Info

Publication number
EP2171496A1
EP2171496A1 EP08736351A EP08736351A EP2171496A1 EP 2171496 A1 EP2171496 A1 EP 2171496A1 EP 08736351 A EP08736351 A EP 08736351A EP 08736351 A EP08736351 A EP 08736351A EP 2171496 A1 EP2171496 A1 EP 2171496A1
Authority
EP
European Patent Office
Prior art keywords
sensor device
beam path
lens
motor vehicle
aperture
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Withdrawn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
EP08736351A
Other languages
German (de)
English (en)
Inventor
Michael Klar
Thomas Binzer
Klaus-Dieter Miosga
Oliver Brueggemann
Joachim Hauk
Juergen Seiz
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 EP2171496A1 publication Critical patent/EP2171496A1/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Withdrawn legal-status Critical Current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
    • 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
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4409—HF sub-systems particularly adapted therefor, e.g. circuits for signal combination
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
    • H01Q1/3283—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle side-mounted antennas, e.g. bumper-mounted, door-mounted
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
    • H01Q15/24—Polarising devices; Polarisation filters 
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
    • H01Q19/06—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using refracting or diffracting devices, e.g. lens
    • H01Q19/062—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using refracting or diffracting devices, e.g. lens for focusing
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/12—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical relative movement between primary active elements and secondary devices of antennas or antenna systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/12—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical relative movement between primary active elements and secondary devices of antennas or antenna systems
    • H01Q3/14—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical relative movement between primary active elements and secondary devices of antennas or antenna systems for varying the relative position of primary active element and a refracting or diffracting device
    • 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
    • G01S2013/93185—Controlling the brakes
    • 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
    • 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
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • 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 sensor device, in particular a radar sensor device for a motor vehicle, according to the preamble of claim 1
  • Such sensor devices are used for example as distance sensors in speed control systems for motor vehicles, with which the speed of the motor vehicle can be controlled to a desired speed selected by the driver.
  • distance sensors for example radar sensors, lidar sensors or the like
  • the distance to a vehicle in front can be measured.
  • the speed control is then modified in such a way that a predetermined, preferably speed-dependent distance to the preceding vehicle selected as the target object is maintained.
  • Such systems are also referred to as Adaptive Cruise Control (ACC) systems or ACC (Adaptive Cruise Control) systems.
  • ACC Adaptive Cruise Control
  • adaptive speed control radar systems typically exhibit a relatively narrow azimuth-focused directivity.
  • LRR long-range radar
  • sensors are designed to detect and measure vehicles and other objects in the field of view at ranges of up to 200 m or more in a rather narrow angular field of vision or detection range of ⁇ +/- 10 °.
  • PSS pjedictive safety systems
  • the sensor device in particular radar sensor device for a motor vehicle, in whose beam path at least one antenna exciter and at least one lens are arranged, wherein in the beam path between the at least one antenna exciter and the at least one lens at least one aperture with a variable azimuthal opening width for the realization of a variable azimuthal Detection range of the sensor device is arranged, has the advantage that by the sensor device different azimuthal angular field of view, in particular a narrow far-looking detection area (long rlinde radar - LRR) and a closer learnkligerer detection area (mid rnature radar - MRR) can be covered.
  • the at least one aperture between the antenna exciter or the exciter and the lens or the radar lens or the beam-bundling element which can be changed mechanically or electrically in its horizontal or azimuthal opening width, a switching of the field of view possible.
  • the sensor device according to the invention With this adjustment possibility can be very elegant, simple and inexpensive to respond to different requirements for the opening angle of the sensor device.
  • a large opening width of the diaphragm leads to a narrower field of view and a small opening width to a wider field of view of the sensor device according to the invention.
  • it is conceivable to increase the measurement resolution of the sensor device by taking into account different antenna characteristics in the case of several measurements with different aperture widths.
  • the at least one diaphragm has a plurality of cover elements which can be folded into the beam path and which in particular form a shutter.
  • the at least one panel can have one or more cover elements, which can be inserted into the beam path in the manner of a roller shutter.
  • the at least one diaphragm has polarization grating elements with a predetermined polarization direction in the beam path, wherein the antenna exciter to realize a variable azimuthal ⁇ ffhungsbreite emits a correspondingly polarized radiation which passes through the polarization grating elements or is inhibited by them.
  • the aperture effect can be achieved in a simple manner by polarization.
  • polarization gratings with a polarization of less than + 45 ° can be provided in the beam path.
  • the antenna exciter now also emits + 45 ° polarized radiation, the passage of radiation results in a correspondingly narrower field of view of the sensor device according to the invention, since bundling of the radar beam through the lens is assisted. However, if the antenna exciter transmits -45 ° polarized radiation, it is correspondingly inhibited by the polarization grating elements and can not reach the lens. Due to the beam-bundling properties of the lens, this results in a substantially widened beam and thus a wider azimuthal detection range of the sensor device according to the invention.
  • the at least one diaphragm comprises damping elements which are formed from a material having a radiation transmission which can be controlled in particular by means of an electric or magnetic field.
  • the at least one lens is provided with the at least one aperture.
  • the aperture can be arranged on the lens.
  • the damping elements or the polarization grid elements can be applied to the lens accordingly.
  • Claim 7 relates to an adaptive cruise control device for motor vehicles.
  • a motor vehicle is specified in claim 8.
  • FIG. 1 shows a schematic representation of the essential components of an ACC
  • Figure 2 is a schematic diagram of the inventive sensor device in a first embodiment with retractable cover elements
  • Figure 3 is a schematic diagram of the sensor device according to the invention in a second embodiment with retractable cover elements, which form a blind;
  • FIG. 4 shows a schematic illustration of the sensor device according to the invention in a third embodiment with a plurality of cover elements, which in the manner of a
  • Roller shutter can be inserted into the beam path
  • Figure 5 is a schematic diagram of the device according to the invention in a fourth
  • Figure 6 is a schematic diagram of the sensor device according to the invention in a fifth embodiment with a diaphragm, which has damping elements;
  • FIG. 7 shows an antenna diagram of a sensor device without aperture
  • 8 shows an antenna diagram of the sensor device according to the invention with a
  • Figure 9 is an antenna diagram of the sensor device according to the invention with a diaphragm, which has an opening width of 10 mm.
  • a motor vehicle 10 with an ACC system or an adaptive cruise control device 11 shown in greatly simplified form in FIG. 1 has as a distance sensor a sensor device or radar sensor device 12 according to the invention attached to the front part of the motor vehicle 10, in whose housing an ACC control unit 14 is accommodated ,
  • the ACC control unit 14 is connected via a data bus 16 (CAN, MOST or the like) to an electronic drive control unit 18, a brake system control unit 20 and to an HMI control unit 22 of a human-machine interface.
  • the radar sensor device 12 measures by means of a radar beam, the distances, relative velocities and azimuth angles of objects located in front of the vehicle, the radar waves reflect. The at regular intervals, z. B.
  • Every 10 ms received raw data are evaluated in the ACC control unit 14 in order to identify and track individual objects, and in particular to recognize a directly on the own lane ahead driving vehicle and select as the target object.
  • the ACC control unit 14 controls the speed of the vehicle 10 as means for determining the acceleration and deceleration demand. If no preceding vehicle is located, the ACC control unit 14 controls the speed of the motor vehicle 10 to a desired speed selected by the driver. On the other hand, is a vehicle in front, its speed is smaller than that of the own vehicle, has been detected as a target object, the speed of the motor vehicle 10 is controlled so that an appropriate distance to the preceding vehicle is maintained.
  • FIGS. 2 to 6 shows a first embodiment of a radar sensor device 12a according to the invention for motor vehicle 10, in whose beam path 24, which is indicated in FIGS. 2 to 6 as the main beam of the radar waves or as the optical axis, between an antenna exciter 26 and a lens 28 formed beam forming element is a diaphragm 30a with a variable azimuthal opening width bi, b 2 for realizing a variable azimuthal detection range of the radar sensor device 12a is arranged.
  • the panel 30a has retractable cover elements 32a in the beam path 24.
  • the cover elements 32a result in the state folded into the beam path 24 (shown by a solid line) an azimuthal opening width bi, which results in a broad azimuthal detection range of the radar sensor device 12a due to the beam-bundling properties of the lens 28. Whereas the cover elements 32a in the state folded out of the beam path 24 (indicated by dashed lines) result in a substantially larger azimuthal opening width b 2 , resulting in a narrower field of view of the radar sensor device 12a.
  • FIG. 3 shows a second embodiment of a radar sensor device 12b according to the invention, in which the cover elements 32b of a diaphragm 30b form a blind.
  • the cover elements 32b are in the folded state in the beam path 24 at least arranged approximately perpendicular to the main beam direction or to the optical axis and cause an azimuthal opening width bi of the diaphragm 30b.
  • the cover members 32b In the unfolded state of the cover 32b (indicated by dashed lines), the cover members 32b arranged substantially parallel to the main beam direction and there is an azimuthal opening width B2.
  • FIG. 4 shows a third embodiment of a radar sensor device 12c according to the invention.
  • a panel 30c has two cover elements 32c, which can be inserted into the beam path 24 in the manner of a roller shutter.
  • an azimuthal opening width bi results, while in the uncoupled state of the cover elements 32c an azimuthal opening width b 2 results.
  • the azimuthal opening widths bi, b 2 are shown only by way of example in FIGS. 2 to 6. Other opening widths are also conceivable.
  • FIG. 5 shows a fourth embodiment of a radar sensor device 12d according to the invention, in which a diaphragm 30d is arranged in the beam path 24.
  • the diaphragm 30d is preferably arranged on the lens 28 and has polarization grating elements 32d with a predetermined polarization direction of less than + 45 °.
  • the antenna exciter 26 emits a correspondingly polarized radiation which passes through the polarization grating elements 32d (opening width b 2 , with the antenna exciter 26 + 45 ° polarized) or being inhibited by this (opening width bi where the antenna exciter is polarized at -45 °).
  • This also results in different detection ranges for the radar sensor device 12d due to the different opening widths bi, b 2 .
  • FIG. 6 shows a fifth embodiment of a radar sensor device 12e according to the invention, wherein a diaphragm 30e has damping elements 32e, which are formed from a material having a radiation transmissibility controllable by means of an electric or magnetic field.
  • the damping elements 32e attenuate the noise caused by the antenna
  • exciter 26 can be generated radar radiation correspondingly by an opening width bi of the diaphragm 30e or can be made permeable.
  • the damping elements 32e can, as shown in FIG. 6, be arranged on the lens 28 analogously to the polarization grid elements 32d from FIG. Of course, other solutions are conceivable here.
  • the shapes of the diaphragms 30a to 30e are adapted to the shape of the lens 28.
  • FIGS. 7, 8 and 9 Shown in FIGS. 7, 8 and 9 are antenna diagrams and azimuth angle diagrams of horizontal sections of four radar beams Beam 1 to Beam 4 showing the detection range of a radar sensor device according to the prior art and the inventive radar sensor devices 12, 12a to 12e as a result of the effective azimuthal opening width represent the aperture 30a to 30e.
  • Horizontal is the azimuth angle and vertical is the level in decibels.
  • FIG. 7 shows the detection range of a radar sensor device according to the prior art without a diaphragm.
  • FIG. 8 shows the detection range of a radar sensor device 12, 12a to 12e according to the invention with an aperture width of the aperture 30a to 30e of 30 mm.
  • FIG. 9 analogously shows a detection range with an aperture width of the aperture 30a to 30e of 10 mm.
  • the different radar beams Beam 1 to Beam 4 show different reception field strengths / powers at different azimuth angles. It is thereby conceivable to increase the measurement resolution of the radar sensor devices 12, 12a to 12e by taking into account different antenna characteristics in a plurality of measurements (for example, ten measurements per second) by varying the measurements to different opening widths bi, b 2 of the diaphragms 30a to 30e is switched.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (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 un dispositif de détection, en particulier un dispositif de détection de radar (12a) pour un véhicule automobile, dont le trajet des rayons (24) comprend au moins une source d'antenne (26) et au moins une lentille (28), caractérisée par ce que dans le trajet des rayons (24) entre au moins une source d'antenne (26) et au moins une lentille (28) se trouve au moins un diaphragme (30a) avec une largeur d'ouverture (b1, b2) azimutale variable pour la réalisation d'un champ d'application azimutal variable du dispositif de détection de radar (12a).
EP08736351A 2007-06-19 2008-04-18 Dispositif de détection avec un champ d'application variable azimutal pour véhicule automobile Withdrawn EP2171496A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007027975A DE102007027975A1 (de) 2007-06-19 2007-06-19 Sensorvorrichtung für ein Kraftfahrzeug
PCT/EP2008/054700 WO2008155150A1 (fr) 2007-06-19 2008-04-18 Dispositif de détection à zone de détection azimutale variable pour un véhicule automobile

Publications (1)

Publication Number Publication Date
EP2171496A1 true EP2171496A1 (fr) 2010-04-07

Family

ID=39537928

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08736351A Withdrawn EP2171496A1 (fr) 2007-06-19 2008-04-18 Dispositif de détection avec un champ d'application variable azimutal pour véhicule automobile

Country Status (4)

Country Link
US (1) US20110199252A1 (fr)
EP (1) EP2171496A1 (fr)
DE (1) DE102007027975A1 (fr)
WO (1) WO2008155150A1 (fr)

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DE102010042276A1 (de) * 2010-10-11 2012-04-12 Robert Bosch Gmbh Sensor, Justageverfahren und Vermessungsverfahren für einen Sensor
JP2015118079A (ja) * 2013-11-12 2015-06-25 オプテックス株式会社 車両検出センサ
DE102014013003A1 (de) * 2014-08-29 2016-03-03 Audi Ag Radarsensor, insbesondere für ein Kraftfahrzeug, und Kraftfahrzeug
US10116060B2 (en) * 2015-08-31 2018-10-30 Commscope Technologies Llc Variable beam width antenna systems
JP7145665B2 (ja) * 2018-07-10 2022-10-03 古河電気工業株式会社 アンテナ装置及びレーダ装置

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Also Published As

Publication number Publication date
US20110199252A1 (en) 2011-08-18
DE102007027975A1 (de) 2008-12-24
WO2008155150A1 (fr) 2008-12-24

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