EP2186161A1 - Radar sensor device - Google Patents

Radar sensor device

Info

Publication number
EP2186161A1
EP2186161A1 EP08786260A EP08786260A EP2186161A1 EP 2186161 A1 EP2186161 A1 EP 2186161A1 EP 08786260 A EP08786260 A EP 08786260A EP 08786260 A EP08786260 A EP 08786260A EP 2186161 A1 EP2186161 A1 EP 2186161A1
Authority
EP
European Patent Office
Prior art keywords
sensor device
radar
integrated
radar sensor
devices
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.)
Granted
Application number
EP08786260A
Other languages
German (de)
French (fr)
Other versions
EP2186161B1 (en
Inventor
Thomas Engelberg
Thomas Hansen
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 EP2186161A1 publication Critical patent/EP2186161A1/en
Application granted granted Critical
Publication of EP2186161B1 publication Critical patent/EP2186161B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
    • 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
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • H01Q21/065—Patch antenna array

Definitions

  • the present invention relates to a radar sensor device.
  • a speckle radar sensor device for speed measurement according to the transit time correlation method consists of at least two sensor devices according to the radar principle and an evaluation device for evaluating the detected speckle patterns.
  • Speckle radar sensor devices are usually mounted on the vehicle to send and receive directly perpendicular to the ground.
  • the receive signals mixed down into the baseband are examined for their similarity.
  • a common mathematical method for this is the cross-correlation.
  • An evaluation principle which is favorable in terms of the signal processing effort represents the transit time correlator.
  • DE 196 42 810 C1 discloses a radar system with an integrated sensor device, wherein in the beam direction in the housing is a dielectric lens, which serves on the one hand for beam shaping and on the other hand protects the sensor device and other components from contamination and other environmental influences.
  • the inventive radar sensor device defined in claim 1 reduces the cost and space requirements for a radar sensor device, which is preferably used to determine the speed vectors of a vehicle relative to the roadway below the vehicle used.
  • a cost-effective sensor device with an evaluation device, which has a particularly low computational cost, an attractive solution can be realized that brings greatly reduced overall costs. Due to the highly integrated design, space-saving designs are possible which greatly facilitate the use in the motor vehicle sector.
  • the availability of an evaluable signal is increased by a vertical alignment of the speckle radar device to the ground, especially in difficult ground conditions, such as extreme wet or black ice, since the radar beam is not at normal radiation and vertical reception can be reflected away. Due to the principle, the speckle radar system for small velocity vectors has a greater evaluation dynamic than the Doppler approach. This is advantageous for the function of a rocker angle sensor, since even low velocities have to be detected there.
  • each sensor device is assigned a single beam-shaping element.
  • a signal processing device for processing the signals of the sensor devices is attached to the substrate. This further increases the compactness of the structure.
  • the signal processing device is then designed as a separate chip, which is connected to the sensor devices via conductor tracks.
  • the integrated sensor devices are integrated into individual chips such that each chip has exactly one antenna device.
  • the integrated sensor devices it is also possible for the integrated sensor devices to be integrated in one or more chips such that at least one chip has a plurality of antenna devices.
  • Fig. 1 is a schematic representation of a radar sensor device according to a first embodiment of the present invention
  • FIG. 2a, b partial enlargements of a sensor device of Fig. 1; 3 shows a sensor device of a radar sensor device according to a second embodiment of the present invention
  • FIG. 4 shows sensor devices of a radar sensor device according to a third embodiment of the present invention
  • FIG. 5 shows an arrangement of sensor devices of a radar sensor device according to a fourth embodiment of the present invention.
  • FIG. 6 shows an arrangement of sensor devices of a radar sensor device according to a fifth embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a radar sensor device according to a first embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a radar sensor device according to a first embodiment of the present invention.
  • reference numeral 50 denotes a speckle radar sensor device.
  • a substrate 52 in the form of a printed circuit board integrated sensor devices Sl, S2, S3 and a signal evaluation device 20 as a respective chip 411, 412, 413, 21 are mounted.
  • the substrate 52 has a flat surface O, on which the chips 411, 412, 413, 21 are fixed, for example by gluing.
  • the sensor devices are designed in such a way that they radiate radar signals in a respective signal direction Sil, SI2, SI3 away from the surface O via a respective antenna device 451, 452, 453 and can receive them from the respective signal direction Sil, SI2, SI3.
  • On the antenna devices 451, 452, 453, by way of example, in each case a rod-shaped, dielectric beam-shaping device or lens 421, 422, 423 is arranged.
  • the speckle radar sensor device 50 has a housing 51 and the substrate 52 encloses.
  • the wall portion W of the housing 51 is preferably aligned parallel to the surface O of the substrate 52.
  • the connection between substrate 52 and housing 51 on Many different ways can be accomplished, for example, by gluing, soldering, welding, screwing, etc.
  • the housing 51 is formed integrally with the integrated beam-forming elements 431, 432, 433 of a moldable or castable material.
  • the signal evaluation device 20 controls the sequence of the transmission and reception of radar signals by the sensor devices S1, S2, S3, to which it is connected via printed conductor devices L1, L2, L3.
  • a speed along the axis on which the sensor devices Sl, S2 lie, and an orthogonal thereto speed along the axis on which the sensor devices S2, S3 lie determine.
  • the speeds thus determined may be output as an output OUT from the signal evaluator 20 to the outside of the radar sensor device 50, for example, to be displayed on a display or used for further processing in a vehicle safety system (e.g., ESP).
  • ESP vehicle safety system
  • FIGS. 2a, b are fragmentary enlargements of a sensor device of FIG. 1.
  • FIG. 2a an enlargement of the section Al of Fig. 1 is shown, wherein the sensor device Sl is shown enlarged.
  • FIG. 2b shows the structure of the chip 411 of the sensor device S1 without a dielectric preforming device 421 applied thereto.
  • the chip 411 in this embodiment combines an RF source 441, a reference source R, an antenna element 451, and a mixer 461.
  • the output of the mixer provides a signal SX, which is used in addition to other signals for cross-correlation detection.
  • the beam shaping by means of the rod-shaped dielectric lens 421 or the beam shaping by way of the beam-shaping lens 431, the
  • the quality of the speckle evaluation can be controlled or adjusted.
  • the described sensor devices S1, S2, S3 preferably transmit electromagnetic waves at a constant frequency in the direction of the roadway.
  • the electromagnetic signals which are reflected perpendicularly and are received again by the respective sensor device S1, S2, S3 are preferably down-converted to baseband (ie with the transmission frequency) and supplied to the signal processing device 20.
  • baseband ie with the transmission frequency
  • a known delay correlator can be used.
  • one of the baseband signals for example SX, is shifted in time until the comparison with the signal of the other sensor device located on the same axis shows a maximum match. From the shift time and the Distance of the sensor devices on the substrate 52 can determine a velocity vector over the ground along the relevant axis of the radar sensor device.
  • the output signals of the sensor devices S1, S2, S3 must be freed of the mean value before comparison in a preferred A / D conversion.
  • the essential speckle information lies in the zero crossings of the signals of the sensor devices S1, S2, S3 freed from the mean value. These signals can be, for example, in an A / D
  • Scan transducers amplitude-limited or polarize via the Signum function, in order to greatly reduce the amount of data to be processed.
  • FIG 3 is a sensor device of a radar sensor device according to a second embodiment of the present invention.
  • the mixers 461a, 461b provide respective output signals SX1, SX2.
  • the sensor device S 1 'of this embodiment operates such that only the antenna element 451a is used to radiate radar signals, whereas the antenna elements 451b, 451c are used exclusively for receiving reflected radar signals. This can improve the signal quality of SXl and SX2 (e.g., by reducing noise).
  • the functionality of the sensor device Sl'a, Sl'b, Sl'c according to FIG. 4 corresponds to the functionality of the sensor device Sl 'according to FIG. 3.
  • the components on three individual chips 411'a, 41''b, 41l 'c built up The chip 411a contains the antenna element 451'a, the reference source R and the mixer 441.
  • the chip 41'b contains the antenna element 45'b and the mixer 461a '.
  • the chip 4 l l'c contains the antenna element 45 lc and the mixer 461b '.
  • the mixers 461a ', 461b' and the HF source 441 are interconnected via printed conductor devices La, Lb, Lc.
  • 5 is an arrangement of sensor devices of a radar sensor device according to a fourth embodiment of the present invention.
  • the arrangement of the sensor devices Si 1, S21, S23, S31 according to FIG. 5 is cross-shaped.
  • the sensor device S22 is used only for emitting radar signals
  • the sensor devices Si1, S21, S23, S31 are used only for receiving radar signals.
  • the speed in the direction of travel FR, ie along the x-axis can be determined by means of the sensor devices S21, S22, S23.
  • the speed perpendicular to the direction of travel FR, ie in the y-direction can be determined by the sensor devices Si l, S22, S31.
  • FIG. 6 is an arrangement of sensor devices of a radar sensor device according to a fifth embodiment of the present invention.
  • a matrix-shaped arrangement in columns and rows is provided.
  • all sensors S01-S09 are suitable for emitting and receiving radar signals.
  • the accuracy can be increased or a redundancy can be provided for the case of the failure of one or more of the sensor devices.
  • the evaluation device 20 may be integrated in the radar sensor device 50 or may also be provided in a separate housing.

Abstract

The present invention relates to a radar sensor device (50) having a first plurality of integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) mounted on a surface (O) of a substrate (52), the integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) being designed such that they can each emit radar signals by means of an antenna device (451, 452, 453; 451a, 451b, 451c; 451a', 451b', 451c') in a signal direction (SI1, SI2, SI3) oriented away from the surface (O) and/or can receive said signals from each signal direction (SI1, SI2, SI3); a housing (51) for packing the first plurality of integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11- S31; S01-S09) having a wall area (W) into which a second plurality of wave-guiding elements (431, 432, 433) is integrated, the wave-guiding elements (431, 432, 433) being disposed in the wall area (W) such that each sensor device (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11- S31; S01-S09) is associated with a wave-guiding element (431, 432, 433) in the associated signal direction (SI1, SI2, SI3) thereof.

Description

Radarsensorvorrichtung Radar sensor device
STAND DER TECHNIKSTATE OF THE ART
Die vorliegende Erfindung betrifft eine Radarsensorvorrichtung.The present invention relates to a radar sensor device.
Obwohl auf beliebige Radarsensorvorrichtungen anwendbar, werden die vorliegende Erfindung und die ihr zugrundeliegende Problematik im Hinblick auf einen Einsatz in Automobilen erläutert.Although applicable to any radar sensor devices, the present invention and its underlying problems are discussed with respect to use in automobiles.
Analysen haben gezeigt, dass eine erhebliche Anzahl von Verkehrsunfällen durch rechtzeitiges Erkennen von Gefahren und durch entsprechende angemessene Fahrmanöver vermieden werden kann. Eine Vermeidung kann durch geeignete Warnhinweise an den Fahrer oder durch automatische longitudinale und/oder laterale Kontrolle des Fahrzeugs erreicht werden. Eine Voraussetzung für die Wahrnehmung der Gefahrensituation sind geeignete Sensorvorrichtungen.Analyzes have shown that a significant number of road accidents can be avoided by timely detection of hazards and appropriate maneuvers. Avoidance can be achieved by appropriate warnings to the driver or by automatic longitudinal and / or lateral control of the vehicle. A prerequisite for the perception of the dangerous situation are suitable sensor devices.
Seit längerer Zeit werden Radarsysteme im Millimeterwellenbereich als Fahrerassistenzsysteme zur Wahrnehmung von Gefahren bzw. als Sensoren eingesetzt. Eine Speckle-Radarsensorvorrichtung zur Geschwindigkeitsmessung nach dem Laufzeit- Korrelationsverfahren besteht aus mindestens zwei Sensoreinrichtungen nach dem Radar-Prinzip und einer Auswertungseinrichtung zum Auswerten der erfassten Speckle-Muster. Speckle-Radarsensorvorrichtungen sind üblicherweise derart am Fahrzeug montiert, dass sie direkt senkrecht zum Boden senden und empfangen. Bei der Speckle-Muster- auswertung werden die ins Basisband heruntergemischten Empfangssignale auf ihre Ähnlichkeit hin untersucht. Ein gängiges mathematisches Verfahren dafür ist die Kreuz-Korrelation. Ein gemessen am Signalverarbeitungsaufwand günstiges Auswertungsprinzip stellt der Laufzeit-Korrelator dar.Radar systems in the millimeter-wave range have long been used as driver assistance systems to detect dangers or as sensors. A speckle radar sensor device for speed measurement according to the transit time correlation method consists of at least two sensor devices according to the radar principle and an evaluation device for evaluating the detected speckle patterns. Speckle radar sensor devices are usually mounted on the vehicle to send and receive directly perpendicular to the ground. In the speckle pattern evaluation, the receive signals mixed down into the baseband are examined for their similarity. A common mathematical method for this is the cross-correlation. An evaluation principle which is favorable in terms of the signal processing effort represents the transit time correlator.
Wenn mehr als zwei Sensoreinrichtungen verwendet werden, kann man über eine differenzielle Auswertung jeweils zweier Sensoreinrichtungen ein vom Mittelwert befreites Signal zur weiteren noch einfacheren Auswertung erzeugen. Wenn man sich beispielsweise auf drei Sensoren beschränkt, kann man den mittleren Sensor doppelt mit den jeweils benachbarten Sensoren zur Differenzbildung ver- wenden. Durch ein Polarisieren der Signale kann man, d.h. durch Anwendung der Signum-Funktion, vor der Korrelationsauswertung weiteren Auswerteaufwand reduzieren. Ordnet man mindestens drei Sensoren in einer Ebene an, so kann man über die zweidimensional gewonnenen Geschwindigkeits- vektoren herausfinden, ob sich ein Fahrzeug in einer gefährlichen Fahrsituation, z.B. Schleudern oder Schwimmen, befindet.If more than two sensor devices are used, one can generate a signal freed from the mean value for a further, even simpler evaluation via a differential evaluation of two sensor devices. For example, if you restrict yourself to three sensors, you can double-digitize the middle sensor with the neighboring sensors to calculate the difference. turn. By polarizing the signals, one can reduce further evaluation effort, ie by using the signum function, before the correlation evaluation. If one arranges at least three sensors in one level, then one can find out via the two-dimensionally obtained speed vectors whether a vehicle is in a dangerous driving situation, eg, skidding or swimming.
Um solche Geschwindigkeitsvektoren zweidimensional zu messen bzw. zu erfassen, gibt es ein weiteres Verfahren, bei dem die Sensoreinrichtungen nicht senkrecht, sondern schräg auf die Fahrbahnoberfläche schauen. Die Auswertung der Ausgangssignale dieser Sensoreinrichtungen basieren auf dem Dopplerprinzip. Dabei wird die geschwindigkeitsabhängige Frequenzverschiebung zwischen dem empfangenen und ausgesendeten Signal festgestellt. Für die zweidimensionale Messung der Geschwindigkeitsvektoren sind auch bei diesem Prinzip mehrere Sensoreinrichtungen nach dem Radarprinzip notwendig.In order to measure or detect such velocity vectors two-dimensionally, there is another method in which the sensor devices do not look perpendicularly but obliquely onto the roadway surface. The evaluation of the output signals of these sensor devices are based on the Doppler principle. In this case, the speed-dependent frequency shift between the received and transmitted signal is detected. For the two-dimensional measurement of the velocity vectors, several sensor devices according to the radar principle are also necessary in this principle.
Die DE 10 2004 059 332 Al offenbart einen Radar-Transceiver, wobei ein Oszillator, ein Mischer und eine Antenne auf einem einzigen Chip in einer Ebene nebeneinander liegend angeordnet sind. Da auf derartigen Chips das abstrahlende Element integriert ist, benötigt man keine kostenintensiven HF- taugliche Leiterplatten mehr. Zusätzlich spart man an aufwendiger HF-Bond- oder Flip-Chip Technologie, was die Bestückungs- und Testkosten erheblich reduziert.DE 10 2004 059 332 A1 discloses a radar transceiver, wherein an oscillator, a mixer and an antenna are arranged on a single chip in a plane next to one another. Since the radiating element is integrated on such chips, one no longer requires cost-intensive HF-capable printed circuit boards. In addition, you save on complex HF bond or flip-chip technology, which significantly reduces assembly and test costs.
Die DE 196 42 810 Cl offenbart ein Radar-System mit einer integrierten Sensoreinrichtung, wobei sich in Strahlrichtung im Gehäuse eine dielektrische Linse befindet, die einerseits zur Strahlformung dient und andererseits die Sensoreinrichtung sowie weitere Bauelemente vor Verschmutzung und sonstigen Umwelteinflüssen schützt.DE 196 42 810 C1 discloses a radar system with an integrated sensor device, wherein in the beam direction in the housing is a dielectric lens, which serves on the one hand for beam shaping and on the other hand protects the sensor device and other components from contamination and other environmental influences.
VORTEILE DER ERFINDUNGADVANTAGES OF THE INVENTION
Die in Anspruch 1 definierte erfindungsgemäße Radarsensorvorrichtung reduziert die Kosten und Bauraumbedarf für eine Radarsensorvorrichtung, die vorzugsweise zur Bestimmung von Geschwin- digkeitsvektoren eines Fahrzeugs gegenüber der Fahrbahn unterhalb des Fahrzeugs zum Einsatz kommt. Durch Kombination einer kostengünstigen Sensoreinrichtung mit einer Auswerteeinrichtung, die einen besonders geringen Rechenaufwand hat, lässt sich eine attraktive Lösung realisieren, die stark gesenkte Gesamtkosten mit sich bringt. Durch den stark integrierten Aufbau sind platzsparende Designs möglich, die den Einsatz im Kraftfahrzeugbereich sehr erleichtern. Im Vergleich zu Systemen nach dem Doppler-Radar-Prinzip wird durch eine senkrechte Ausrichtung der Speckle-Radarvorrichtung zum Untergrund die Verfügbarkeit eines auswertbaren Signals insbesondere in schwierigen Untergrundsituationen, wie z.B. extremer Nässe oder Glatteis erhöht, da bei senkrechter Abstrahlung und senkrechtem Empfang der Radarstrahl nicht wegreflektiert werden kann. Prinzipbedingt besitzt das Speckle-Radarsystem für kleine Geschwindigkeitsvektoren eine größere Auswertedynamik als der Doppler- Ansatz. Dies ist von Vorteil für die Funktion eines Schwimmwin- kelsensors, da dort schon geringe Geschwindigkeiten detektiert werden müssen.The inventive radar sensor device defined in claim 1 reduces the cost and space requirements for a radar sensor device, which is preferably used to determine the speed vectors of a vehicle relative to the roadway below the vehicle used. By combining a cost-effective sensor device with an evaluation device, which has a particularly low computational cost, an attractive solution can be realized that brings greatly reduced overall costs. Due to the highly integrated design, space-saving designs are possible which greatly facilitate the use in the motor vehicle sector. Compared to systems according to the Doppler radar principle, the availability of an evaluable signal is increased by a vertical alignment of the speckle radar device to the ground, especially in difficult ground conditions, such as extreme wet or black ice, since the radar beam is not at normal radiation and vertical reception can be reflected away. Due to the principle, the speckle radar system for small velocity vectors has a greater evaluation dynamic than the Doppler approach. This is advantageous for the function of a rocker angle sensor, since even low velocities have to be detected there.
Die in den Unteransprüchen aufgeführten Merkmale beziehen sich auf vorteilhafte Weiterbildungen und Verbesserungen des Gegenstandes der Erfindung.The features listed in the dependent claims relate to advantageous developments and improvements of the subject matter of the invention.
Gemäß einer bevorzugten Weiterbildung ist jeder Sensoreinrichtung ein einziges strahlformendes Element zugeordnet. Es ist jedoch auch möglich, mehrere Sensoreinrichtungen einem strahlformenden Element zuzuordnen.According to a preferred development, each sensor device is assigned a single beam-shaping element. However, it is also possible to assign a plurality of sensor devices to a beam-shaping element.
Gemäß einer weiteren bevorzugten Weiterbildung ist eine Signalverarbeitungseinrichtung zum Verarbeiten der Signale der Sensoreinrichtungen am Substrat angebracht. Dies erhöht die Kompaktheit des Aufbaus weiter. Vorzugsweise ist die Signalverarbeitungseinrichtung dann als separater Chip ausgebildet, welcher mit den Sensoreinrichtungen über Leiterbahnen verbunden ist.According to a further preferred development, a signal processing device for processing the signals of the sensor devices is attached to the substrate. This further increases the compactness of the structure. Preferably, the signal processing device is then designed as a separate chip, which is connected to the sensor devices via conductor tracks.
Gemäß einer weiteren bevorzugten Weiterbildung sind die integrierten Sensoreinrichtungen derart in einzelne Chips integiert, dass jeder Chip genau eine Antenneneinrichtung aufweist. Es ist jedoch auch möglich, dass die integrierten Sensoreinrichtungen derart in einen oder mehrere Chips integiert sind, dass mindestens ein Chip mehrere Antenneneinrichtungen aufweist.According to a further preferred development, the integrated sensor devices are integrated into individual chips such that each chip has exactly one antenna device. However, it is also possible for the integrated sensor devices to be integrated in one or more chips such that at least one chip has a plurality of antenna devices.
ZEICHNUNGENDRAWINGS
Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und in der nachfolgenden Beschreibung näher erläutert.Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description.
Es zeigen:Show it:
Fig. 1 eine schematische Darstellung einer Radarsensorvorrichtung gemäß einer ersten Ausführungsform der vorliegenden Erfindung;Fig. 1 is a schematic representation of a radar sensor device according to a first embodiment of the present invention;
Fig. 2a,b ausschnittsweise Vergrösserungen einer Sensoreinrichtung von Fig. 1; Fig. 3 eine Sensoreinrichtung einer Radarsensorvorrichtung gemäß einer zweiten Ausfüh- rungsform der vorliegenden Erfindung;Fig. 2a, b partial enlargements of a sensor device of Fig. 1; 3 shows a sensor device of a radar sensor device according to a second embodiment of the present invention;
Fig. 4 Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer dritten Ausführungsform der vorliegenden Erfindung;FIG. 4 shows sensor devices of a radar sensor device according to a third embodiment of the present invention; FIG.
Fig. 5 eine Anordnung von Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer vierten Ausführungsform der vorliegenden Erfindung; und5 shows an arrangement of sensor devices of a radar sensor device according to a fourth embodiment of the present invention; and
Fig. 6 eine Anordnung von Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer fünften Ausführungsform der vorliegenden Erfindung.6 shows an arrangement of sensor devices of a radar sensor device according to a fifth embodiment of the present invention.
BESCHREIBUNG VON AUSFÜHRUNGSBEISPIELENDESCRIPTION OF EMBODIMENTS
In den Figuren bezeichnen gleiche Bezugszeichen gleiche bzw. funktionsgleiche Elemente.In the figures, like reference numerals designate the same or functionally identical elements.
Fig. 1 ist eine schematische Darstellung einer Radarsensorvorrichtung gemäß einer ersten Ausführungsform der vorliegenden Erfindung.FIG. 1 is a schematic diagram of a radar sensor device according to a first embodiment of the present invention. FIG.
In Fig. 1 bezeichnet Bezugszeichen 50 eine Speckle-Radarsensorvorrichtung. Auf einem Substrat 52 in Form einer Leiterplatte sind integrierte Sensoreinrichtungen Sl, S2, S3 und eine Signalauswerteein- richtung 20 als jeweiliger Chip 411, 412, 413, 21 angebracht. Beim vorliegenden Beispiel weist das Substrat 52 eine ebene Oberfläche O auf, auf der die Chips 411, 412, 413, 21 befestigt sind, beispiels- weise durch Kleben. Die Sensoreinrichtungen sind derart gestaltet, dass Sie über eine jeweilige Antenneneinrichtung 451, 452, 453 Radarsignale in einer jeweiligen, von der Oberfläche O weggerichteten Signalrichtung Sil, SI2, SI3 abstrahlen und aus der jeweiligen Signalrichtung Sil, SI2, SI3 empfangen können. Auf den Antenneneinrichtungen 451, 452, 453 ist beispielhaft jeweils eine stabförmi- ge, dielektrische Strahlvorformungseinrichtung bzw. -linse 421, 422, 423 angeordnet.In Fig. 1, reference numeral 50 denotes a speckle radar sensor device. On a substrate 52 in the form of a printed circuit board integrated sensor devices Sl, S2, S3 and a signal evaluation device 20 as a respective chip 411, 412, 413, 21 are mounted. In the present example, the substrate 52 has a flat surface O, on which the chips 411, 412, 413, 21 are fixed, for example by gluing. The sensor devices are designed in such a way that they radiate radar signals in a respective signal direction Sil, SI2, SI3 away from the surface O via a respective antenna device 451, 452, 453 and can receive them from the respective signal direction Sil, SI2, SI3. On the antenna devices 451, 452, 453, by way of example, in each case a rod-shaped, dielectric beam-shaping device or lens 421, 422, 423 is arranged.
Die Speckle-Radarsensorvorrichtung 50 gemäß dieser Ausführungsform weist ein Gehäuse 51 auf, und das Substrat 52 umschließt. Der Wandbereich W des Gehäuses 51 ist vorzugsweise parallel ist zur Oberfläche O des Substrats 52 ausgerichtet. Innerhalb des Wandbereichs W des Gehäuses 51 integriert sind strahlformende Elemente 431, 432, 433, welche derart angeordnet sind, dass jeder Sensoreinrich- tung Sl, S2, S3 ein strahlformende Elemente 431, 432, 433 in seiner zugehörigen Signalrichtung Sil, SI2, SI3 zugeordnet ist. Es sei erwähnt, dass die Verbindung zwischen Substrat 52 und Gehäuse 51 auf viele verschiedene Arten und Weisen bewerkstelligt werden kann, beispielsweise durch Kleben, Löten, Schweißen, Schrauben usw. Vorzugsweise wird das Gehäuse 51 mit den integrierten strahlformenden Elementen 431, 432, 433 einteilig aus einem formbaren oder gießbaren Material gebildet.The speckle radar sensor device 50 according to this embodiment has a housing 51 and the substrate 52 encloses. The wall portion W of the housing 51 is preferably aligned parallel to the surface O of the substrate 52. Integrated within the wall region W of the housing 51 are beam-shaping elements 431, 432, 433, which are arranged such that each sensor device S1, S2, S3 is assigned a beam-shaping element 431, 432, 433 in its associated signal direction Sil, SI2, SI3 is. It should be noted that the connection between substrate 52 and housing 51 on Many different ways can be accomplished, for example, by gluing, soldering, welding, screwing, etc. Preferably, the housing 51 is formed integrally with the integrated beam-forming elements 431, 432, 433 of a moldable or castable material.
Die Signalauswerteeinrichtung 20 steuert den Ablauf des Aussendens und Empfangens von Radarsignalen durch die Sensoreinrichtungen Sl, S2, S3, mit denen sie über Leiterbahneinrichtungen Ll, L2, L3 verbunden ist.The signal evaluation device 20 controls the sequence of the transmission and reception of radar signals by the sensor devices S1, S2, S3, to which it is connected via printed conductor devices L1, L2, L3.
Bei der Anordnung der Sensoreinrichtungen Sl, S2, S3 gemäß dem Beispiel von Figur 1 lassen sich beispielsweise eine Geschwindigkeit entlang der Achse, auf der die Sensoreinrichtungen Sl, S2 liegen, und eine dazu orthogonale Geschwindigkeit entlang der Achse, auf der die Sensoreinrichtungen S2, S3 liegen, ermitteln. Die derart ermittelten Geschwindigkeiten lassen sich als Ausgangssignal OUT von der Signalauswerteeinrichtung 20 nach außerhalb der Radarsensorvorrichtung 50 geben, um beispielsweise auf einem Display angezeigt zu werden oder zur weiteren Verarbeitung in einem Fahr- Zeugssicherheitssystem (z.B. ESP) verwendet zu werden.In the arrangement of the sensor devices Sl, S2, S3 according to the example of Figure 1, for example, a speed along the axis on which the sensor devices Sl, S2 lie, and an orthogonal thereto speed along the axis on which the sensor devices S2, S3 lie, determine. The speeds thus determined may be output as an output OUT from the signal evaluator 20 to the outside of the radar sensor device 50, for example, to be displayed on a display or used for further processing in a vehicle safety system (e.g., ESP).
Fig. 2a,b sind ausschnittsweise Vergrösserungen einer Sensoreinrichtung von Fig. 1.FIGS. 2a, b are fragmentary enlargements of a sensor device of FIG. 1.
In Fig. 2a ist eine Vergrößerung des Ausschnitts Al von Fig. 1 gezeigt, worin die Sensoreinrichtung Sl vergrößert dargestellt ist. In Fig. 2b ist der Aufbau des Chips 411 der Sensoreinrichtung Sl ohne aufgesetzte dielektrische Vorformungseinrichtung 421 dargestellt. Der Chip 411 vereinigt bei diesem Ausführungsbeispiel eine HF-Quelle 441, eine Referenzquelle R, ein Antenneelement 451 und einen Mischer 461 auf sich. Der Ausgang des Mischers liefert ein Signal SX, welches neben weiteren Signalen zur Kreuz-Korrelationsermittlung herangezogen wird. Über die Strahlvorformung mittels der Stab- förmigen dielektrischen Linse 421 bzw. die Strahlformung über die strahlformende Linse 431 kann dieIn Fig. 2a, an enlargement of the section Al of Fig. 1 is shown, wherein the sensor device Sl is shown enlarged. FIG. 2b shows the structure of the chip 411 of the sensor device S1 without a dielectric preforming device 421 applied thereto. The chip 411 in this embodiment combines an RF source 441, a reference source R, an antenna element 451, and a mixer 461. The output of the mixer provides a signal SX, which is used in addition to other signals for cross-correlation detection. The beam shaping by means of the rod-shaped dielectric lens 421 or the beam shaping by way of the beam-shaping lens 431, the
Qualität der Speckle- Auswertung gesteuert, bzw. eingestellt werden.The quality of the speckle evaluation can be controlled or adjusted.
Die beschriebenen Sensoreinrichtungen Sl, S2, S3 senden vorzugsweise senkrecht elektromagnetische Wellen mit einer konstanten Frequenz in Richtung Fahrbahn aus. Die senkrecht reflektierten und von der jeweiligen Sensoreinrichtung Sl, S2, S3 wieder empfangenen elektromagnetischen Signale werden vorzugsweise ins Basisband, (d.h. mit der Sendefrequenz) heruntergemischt und der Signalverarbei- tungseinrichtung 20 zugeführt. Als kostengünstige Signalverarbeitungsmethode kann ein bekannter Laufzeit-Korrelator verwendet werden. Hierdurch wird eines der Basisband-Signale, z.B. SX in der Zeit solange verschoben, bis der Vergleich mit dem Signal der auf der Selben Achse liegenden ande- ren Sensoreinrichtung eine maximale Übereinstimmung zeigt. Aus der Verschiebungszeit und dem Abstand der Sensoreinrichtungen auf dem Substrat 52 kann man einen Geschwindigkeitsvektor über den Grund entlang der betreffenden Achse der Radarsensorvorrichtung bestimmen.The described sensor devices S1, S2, S3 preferably transmit electromagnetic waves at a constant frequency in the direction of the roadway. The electromagnetic signals which are reflected perpendicularly and are received again by the respective sensor device S1, S2, S3 are preferably down-converted to baseband (ie with the transmission frequency) and supplied to the signal processing device 20. As a cost signal processing method, a known delay correlator can be used. As a result, one of the baseband signals, for example SX, is shifted in time until the comparison with the signal of the other sensor device located on the same axis shows a maximum match. From the shift time and the Distance of the sensor devices on the substrate 52 can determine a velocity vector over the ground along the relevant axis of the radar sensor device.
Zur Auswertung müssen die Ausgangssignale der Sensoreinrichtungen Sl, S2, S3 vor dem Vergleich in einer vorzugsweisen A/D Wandlung vom Mittelwert befreit werden. Eine Möglichkeit, um direkt ein vom Mittelwert befreites Signal zu erhalten, ergibt sich durch die Differenzbildung der Ausgangssignale zweier Sensoren.For evaluation, the output signals of the sensor devices S1, S2, S3 must be freed of the mean value before comparison in a preferred A / D conversion. One way to directly obtain a signal freed from the mean, results from the difference of the output signals of two sensors.
Die wesentlichen Speckle-Informationen liegen in den Nulldurchgängen der vom Mittelwert befreiten Signale der Sensoreinrichtungen Sl, S2, S3. Diese Signale kann man beispielsweise in einem A/DThe essential speckle information lies in the zero crossings of the signals of the sensor devices S1, S2, S3 freed from the mean value. These signals can be, for example, in an A / D
Wandler amplitudenbegrenzt abtasten bzw. über die Signum-Funktion polarisieren, um so die zu verarbeitende Datenmenge stark zu reduzieren.Scan transducers amplitude-limited or polarize via the Signum function, in order to greatly reduce the amount of data to be processed.
Fig. 3 ist eine Sensoreinrichtung einer Radarsensorvorrichtung gemäß einer zweiten Ausführungsform der vorliegenden Erfindung.3 is a sensor device of a radar sensor device according to a second embodiment of the present invention.
Die in Fig. 3 gezeigte Sensoreinrichtung Sl', welche in einen Chip 411 ' integriert ist, weist 3 Anten- neneinrichtungen 451a, 451b, 451c , zwei Mischer 461a, 461b, eine Referenzquelle R, sowie eine HF- Quelle 441 auf. Die Mischer 461a, 461b liefern jeweilige Ausgangssignale SXl, SX2.The sensor device Sl 'shown in FIG. 3, which is integrated in a chip 411', has 3 antenna devices 451a, 451b, 451c, two mixers 461a, 461b, a reference source R, and an HF source 441. The mixers 461a, 461b provide respective output signals SX1, SX2.
Die Sensoreinrichtung S 1 ' dieser Ausführungsform arbeitet derart, dass nur das Antennenelement 451a zum Abstrahlen von Radar- Signalen verwendet wird, wohingegen die Antennenelemente 451b, 451c ausschließlich zum Empfangen reflektierter Radarsignale verwendet werden. Dies kann die Signalqualität von SXl und SX2 verbessern (z.B. durch Reduzierung von Störungen).The sensor device S 1 'of this embodiment operates such that only the antenna element 451a is used to radiate radar signals, whereas the antenna elements 451b, 451c are used exclusively for receiving reflected radar signals. This can improve the signal quality of SXl and SX2 (e.g., by reducing noise).
Fig. 4 ist Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer dritten Ausführungsform der vorliegenden Erfindung.4 is sensor devices of a radar sensor device according to a third embodiment of the present invention.
Die Funktionalität der Sensoreinrichtung Sl'a, Sl'b, Sl'c gemäß Fig. 4 entspricht der Funktionalität der Sensoreinrichtung Sl' gemäß Fig. 3. Jedoch sind die Komponenten auf drei einzelnen Chips 411'a, 41 l'b, 41 l'c aufgebaut. Der Chip 411a enthält das Antennenelement 451'a, die Referenzquelle R und den Mischer 441. Der Chip 41 l'b enthält das Antennenelement 45 l'b und den Mischer 461a'. Der Chip 4 l l'c enthält das Antennenelement 45 l'c und den Mischer 461b'.The functionality of the sensor device Sl'a, Sl'b, Sl'c according to FIG. 4 corresponds to the functionality of the sensor device Sl 'according to FIG. 3. However, the components on three individual chips 411'a, 41''b, 41l 'c built up. The chip 411a contains the antenna element 451'a, the reference source R and the mixer 441. The chip 41'b contains the antenna element 45'b and the mixer 461a '. The chip 4 l l'c contains the antenna element 45 lc and the mixer 461b '.
Um die selbe Funktionalität wie bei der Sensoreinrichtung gemäß Figur 3 zu erzielen, sind die Mischer 461a', 461b' und die HF-Quelle 441 über Leiterbahnemrichtungen La, Lb, Lc miteinander verschaltet. Fig. 5 ist eine Anordnung von Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer vierten Ausführungsform der vorliegenden Erfindung.In order to achieve the same functionality as in the sensor device according to FIG. 3, the mixers 461a ', 461b' and the HF source 441 are interconnected via printed conductor devices La, Lb, Lc. 5 is an arrangement of sensor devices of a radar sensor device according to a fourth embodiment of the present invention.
Die Anordnung der Sensoreinrichtungen Si l, S21, S23, S31 gemäß Figur 5 ist kreuzförmig. Vorzugsweise wird die Sensoreinrichtung S22 nur zum Abstrahlen von Radarsignalen verwendet, wohingegen die Sensoreinrichtungen Si l, S21, S23, S31 nur zum Empfangen von Radarsignalen verwendet werden. Die Geschwindigkeit in Fahrtrichtung FR, also entlang der x-Achse lässt sich mittels der Sensoreinrichtungen S21, S22, S23 ermitteln. Die Geschwindigkeit senkrecht zur Fahrtrichtung FR, also in y-Richtung lässt sich durch die Sensoreinrichtungen Si l, S22, S31 ermitteln.The arrangement of the sensor devices Si 1, S21, S23, S31 according to FIG. 5 is cross-shaped. Preferably, the sensor device S22 is used only for emitting radar signals, whereas the sensor devices Si1, S21, S23, S31 are used only for receiving radar signals. The speed in the direction of travel FR, ie along the x-axis can be determined by means of the sensor devices S21, S22, S23. The speed perpendicular to the direction of travel FR, ie in the y-direction can be determined by the sensor devices Si l, S22, S31.
Fig. 6 ist eine Anordnung von Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer fünften Ausführungsform der vorliegenden Erfindung.6 is an arrangement of sensor devices of a radar sensor device according to a fifth embodiment of the present invention.
Bei der in Fig. 6 gezeigten Anordnung der Sensoreinrichtungen S01-S09 ist eine matrixförmige Anordnung in Spalten und Zeilen vorgesehen. Bei diesem Beispiel sind alle Sensoren S01-S09 zum Abstrahlen und Empfangen von Radarsignalen geeignet. Durch die Verwendung einer derartigen Vielzahl von Sensoreinrichtungen S01-S09 kann beispielsweise die Genauigkeit erhöht werden bzw. eine Redundanz für den Fall des Ausfallens einer oder mehrerer der Sensoreinrichtungen vorgesehen werden.In the arrangement of the sensor devices S01-S09 shown in FIG. 6, a matrix-shaped arrangement in columns and rows is provided. In this example, all sensors S01-S09 are suitable for emitting and receiving radar signals. By using such a plurality of sensor devices S01-S09, for example, the accuracy can be increased or a redundancy can be provided for the case of the failure of one or more of the sensor devices.
Obwohl die vorliegende Erfindung vorstehend anhand bevorzugter Ausführungsbeispiele beschrieben wurde, ist sie darauf nicht beschränkt, sondern auf vielfältige Weise modifizierbar.Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in many ways.
Obwohl bei den oben beschriebenen Ausführungsformen von Anwendungen im Automobilbereich die Rede war, ist die vorliegende Erfindung darauf nicht beschränkt. Auch können beliebige Auswerteverfahren bzw. Anordnungen der Sensoreinrichtungen vorgesehen werden und nicht nur die oben erläuterten. Die Auswerteeinrichtung 20 kann in der Radarsensorvorrichtung 50 integriert sein oder kann auch in einem separaten Gehäuse vorgesehen sein. Although in the above-described embodiments, applications in the automotive field have been mentioned, the present invention is not limited thereto. It is also possible to provide any evaluation methods or arrangements of the sensor devices, and not just the ones explained above. The evaluation device 20 may be integrated in the radar sensor device 50 or may also be provided in a separate housing.

Claims

Ansprüche claims
1. Radarsensorvorrichtung (50) mit:A radar sensor device (50) comprising:
einer ersten Mehrzahl integrierter Sensoreinrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl 'b, Sl 'c; S11-S31; S01-S09), welche auf einer Oberfläche (O) eines Substrats (52) angebracht sind;a first plurality of integrated sensor devices (Sl, S2, S3; Sl '; Sl'a, Sl'b, Sl'c; S11-S31; S01-S09) mounted on a surface (O) of a substrate (52) ;
wobei die integrierten Sensoreinrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl 'b, Sl 'c; S11-S31; S01-S09) derart gestaltet sind, dass sie über eine jeweilige Antenneneinrichtung (451, 452, 453; 451a, 451b, 451c; 451a', 451b', 451c') Radarsignale in einer jeweiligen, von der Oberfläche (O) weggerichteten Signalrichtung (Sil, SI2, SI3) abstrahlen und/oder aus der jeweiligen Signalrichtung (Sil, SI2, SI3) empfangen können;wherein the integrated sensor devices (Sl, S2, S3, Sl ', Sl' a, Sl 'b, Sl' c, S11-S31, S01-S09) are designed in such a way that they are connected via a respective antenna device (451, 452, 453 451a, 451b, 451c, 451a ', 451b', 451c ') radiate radar signals in a respective signal direction (Sil, SI2, SI3) away from the surface (O) and / or from the respective signal direction (Sil, SI2, SI3 ) can receive;
einem Gehäuse (51) zum Verpacken der ersten Mehrzahl integrierter Sensoreinrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl 'b, Sl 'c; S11-S31; S01-S09), welches einen Wandbereich (W) aufweist, in den eine zweite Mehrzahl strahlformender Elemente (431, 432, 433) integriert ist;a housing (51) for packaging the first plurality of integrated sensor devices (Sl, S2, S3; Sl '; Sl'a, Sl'b, Sl'c; S11-S31; S01-S09) having a wall region (W) into which a second plurality of beam-shaping elements (431, 432, 433) is integrated;
wobei die strahlformenden Elemente (431, 432, 433) derart in dem Wandbereich (O) angeordnet sind, dass jeder Sensoremrichtung (Sl, S2, S3; Sl '; Sl 'a, Sl 'b, Sl 'c; S11-S31; S01-S09) ein strahlformendes Element (431, 432, 433) in seiner zugehörigen Signalrichtung (Sil, SI2, SI3) zugeordnet ist.wherein the beam-shaping elements (431, 432, 433) are arranged in the wall region (O) such that each sensor device (Sl, S2, S3; Sl '; Sl' a, Sl 'b, Sl' c; S11-S31; S01-S09) is assigned a beam-shaping element (431, 432, 433) in its associated signal direction (Sil, SI2, SI3).
2. Radarsensorvorrichtung (50) nach Anspruch 1, wobei jeder Sensoremrichtung (Sl, S2, S3; Sl '; Sl 'a, Sl 'b, Sl 'c; S11-S31; S01-S09) ein einziges strahlformendes Element (431, 432, 433) zugeordnet ist.A radar sensor device (50) according to claim 1, wherein each sensor device (S1, S2, S3, S1 ', S1'a, S1'b, S1'c, S11-S31, S01-S09) comprises a single beam-shaping element (431, 432, 433) is assigned.
3. Radarsensorvorrichtung (50) nach Anspruch 1, wobei mehrere Sensoremrichtungen (Sl, S2, S3;3. radar sensor device (50) according to claim 1, wherein a plurality of sensor devices (Sl, S2, S3;
Sl '; Sl 'a, Sl 'b, Sl 'c; S11-S31; S01-S09) einem strahlformenden Element (431, 432, 433) zugeordnet sind.Sl '; Sl'a, Sl'b, Sl'c; S11-S31; S01-S09) are assigned to a beam-shaping element (431, 432, 433).
4. Radarsensorvorrichtung (50) nach Anspruch 1, 2 oder 3, wobei eine Signalverarbeitungseinrichtung (20) zum Verarbeiten der Signale der Sensoremrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl 'b, Sl 'c; SI l- S31; S01-S09) am Substrat (52) angebracht ist. 4. Radar sensor device (50) according to claim 1, 2 or 3, wherein a signal processing device (20) for processing the signals of the sensor devices (Sl, S2, S3; Sl ';Sl' a, Sl 'b, Sl'c; - S31; S01-S09) is attached to the substrate (52).
5. Radarsensorvorrichtung (50) nach Anspruch 4, wobei die Signalverarbeitungseinrichtung (20) als separater Chip ausgebildet ist, welcher mit den Sensoreinrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl 'b, Sl 'c; S11-S31; S01-S09) über Leiterbahnen (Ll, L2, L3) verbunden ist.5. Radar sensor device (50) according to claim 4, wherein the signal processing device (20) is embodied as a separate chip which is connected to the sensor devices (S1, S2, S3, S1 ', S1'a, S1'b, S1'c; S11- S31, S01-S09) is connected via printed conductors (L1, L2, L3).
6. Radarsensorvorrichtung (50) nach einem der vorhergehenden Ansprüche, wobei die integrierten Sensoreinrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl'b, Sl 'c; S11-S31; S01-S09) derart in einzelne Chips (411, 412, 413) integiert sind, dass jeder Chip (411, 412, 413) genau eine Antenneneinrichtung (451, 452, 453; 451a, 451b, 451c; 451a', 451b', 451c') aufweist.6. radar sensor device (50) according to any one of the preceding claims, wherein the integrated sensor devices (Sl, S2, S3, Sl '; Sl' a, Sl'b, Sl 'c; S11-S31; S01-S09) in such individual chips (411, 412, 413) are integrated such that each chip (411, 412, 413) has exactly one antenna device (451, 452, 453; 451a, 451b, 451c; 451a ', 451b', 451c ').
7. Radarsensorvorrichtung (50) nach einem der vorhergehenden Ansprüche, wobei die integrierten7. Radar sensor device (50) according to one of the preceding claims, wherein the integrated
Sensoreinrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl'b, Sl 'c; S11-S31; S01-S09) derart in einen oder mehrere Chips integiert sind, dass mindestens ein Chip (Sl ') mehrere Antenneneinrichtungen aufweist.Sensor devices (Sl, S2, S3, Sl ', Sl' a, Sl'b, Sl 'c, S11-S31, S01-S09) are integrated in one or more chips in such a way that at least one chip (Sl') has a plurality of antenna devices having.
8. Radarsensorvorrichtung (50) nach einem der vorhergehenden Ansprüche, wobei die integrierten Sensoreinrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl 'b, Sl 'c; S11-S31; S01-S09) matrixfόrmig angeordnet sind.8. Radar sensor device (50) according to one of the preceding claims, wherein the integrated sensor devices (Sl, S2, S3; Sl ', Sl' a, Sl 'b, Sl' c; S11-S31; S01-S09) are arranged matrix-like.
9. Radarsensorvorrichtung (50) nach der vorhergehenden Ansprüche, wobei eine zentrale Sensorein- richtung (S22) zum ausschliesslichen Abstrahlen von Radarsignalen und mehrere die zentrale Sensor- einrichtung (S22) umgebende periphere Sensoreinrichtungen (Si l, S21, S23, S31) zum ausschliesslichen Empfangen von Radarsignalen vorgesehen sind.9. Radar sensor device (50) according to the preceding claims, wherein a central sensor device (S22) for exclusively emitting radar signals and a plurality of the central sensor device (S22) surrounding peripheral sensor devices (Si l, S21, S23, S31) to the exclusive Receiving radar signals are provided.
10. Radarsensorvorrichtung (50) nach Anspruch 9, wobei die periphere Sensoreinrichtungen (Si l, S21, S23, S31) in zwei orthogonalen Linien angeordnet sind.10. A radar sensor device (50) according to claim 9, wherein the peripheral sensor devices (Si l, S21, S23, S31) are arranged in two orthogonal lines.
11. Radarsensorvorrichtung (50) nach einem der vorhergehenden Ansprüche, wobei auf den Antenneneinrichtungen (451, 452, 453; 451a, 451b, 451c; 451a', 451b', 451c') jeweils eine stabfόrmige Strahlvorformungseinrichtung (421, 422, 423) vorgesehen ist.11. Radar sensor device (50) according to one of the preceding claims, wherein on the antenna devices (451, 452, 453; 451a, 451b, 451c; 451a ', 451b', 451c ') each have a Stabfόrmige Strahlvorformungseinrichtung (421, 422, 423) provided is.
12. Radarsensorvorrichtung (50) nach einem der vorhergehenden Ansprüche, wobei das Substrat (52) eine Leiterplatte ist.A radar sensor device (50) according to any one of the preceding claims, wherein the substrate (52) is a printed circuit board.
13. Radarsensorvorrichtung (50) nach einem der vorhergehenden Ansprüche, wobei das Gehäuse (51) das Substrat (52) derart quaderförmig umschliesst, dass der Wandbereich (W) die Quaderoberseite ist. 13. Radar sensor device (50) according to one of the preceding claims, wherein the housing (51) encloses the substrate (52) in such a cuboid that the wall region (W) is the cuboid top.
14. Radarsensorvorrichtung (50) nach einem der vorhergehenden Ansprüche, welche zur Messung der Geschwindigkeit nach einem Laufzeit-Korrelationsverfahren ausgelegt ist.14. Radar sensor device (50) according to one of the preceding claims, which is designed to measure the speed according to a transit time correlation method.
15. Radarsensorvorrichtung (50) nach einem der vorhergehenden Ansprüche, welche ausgelegt ist, nach dem Speckle- Verfahren zu arbeiten.15. Radar sensor device (50) according to any one of the preceding claims, which is designed to operate according to the speckle method.
16. Radarsensorvorrichtung (50) nach Anspruch 4, wobei die Signalverarbeitungseinrichtung (20) in einer der Sensoreinrichtungen (Sl, S2, S3; Sl '; Sl 'a, Sl'b, Sl 'c; S11-S31; S01-S09) integriert ist. 16. Radar sensor device (50) according to claim 4, wherein the signal processing device (20) in one of the sensor devices (Sl, S2, S3, Sl ', Sl' a, Sl'b, Sl 'c; S11-S31; S01-S09) is integrated.
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