EP2186161B1 - Dispositif de détection par radar - Google Patents

Dispositif de détection par radar Download PDF

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Publication number
EP2186161B1
EP2186161B1 EP08786260A EP08786260A EP2186161B1 EP 2186161 B1 EP2186161 B1 EP 2186161B1 EP 08786260 A EP08786260 A EP 08786260A EP 08786260 A EP08786260 A EP 08786260A EP 2186161 B1 EP2186161 B1 EP 2186161B1
Authority
EP
European Patent Office
Prior art keywords
radar
integrated
radar sensor
sensor apparatus
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.)
Not-in-force
Application number
EP08786260A
Other languages
German (de)
English (en)
Other versions
EP2186161A1 (fr
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/fr
Application granted granted Critical
Publication of EP2186161B1 publication Critical patent/EP2186161B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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 to 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.
  • the 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-suitable printed circuit boards. In addition, you save on complex HF bond or flip-chip technology, which significantly reduces assembly and test costs.
  • the 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.
  • a microwave lens antenna assembly for a vehicle proximity warning radar is described.
  • the housing of the microwave lens antenna arrangement has exactly one dielectric lens formed as a stepped lens, in the focal plane of which three mutually horizontally arranged, separately switchable exciters are arranged.
  • the housing of the device also has a dielectric lens, to which several transmitting and receiving elements can be assigned.
  • the inventive radar sensor device defined in claim 1 reduces the cost and space requirements for a radar sensor device, which is preferably used for determining speed vectors of a vehicle relative to the roadway below the vehicle.
  • 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 vertical orientation of the speckle radar device to the ground makes the availability of an evaluable signal particularly in difficult underground situations, such as e.g. Extreme wetness or black ice increased, since with vertical radiation and vertical reception of the radar beam can not be reflected away.
  • 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 float angle sensor, since even there low speeds must be detected.
  • 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. 10 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.
  • Integrated sensor devices S1, S2, S3 and a signal evaluation device 20 as a respective chip 411, 412, 413, 21 are mounted on a substrate 52 in the form of a printed circuit board.
  • the substrate 52 has a planar surface O on which the chips 411, 412, 413, 21 are attached, for example by gluing.
  • the sensor devices are designed such that they radiate via a respective antenna device 451, 452, 453 radar signals in a respective direction away from the surface O signal direction SI1, SI2, SI3 and can receive from the respective signal direction SI1, SI2, SI3.
  • On the antenna devices 451, 452, 453, by way of example, in each case a rod-shaped, dielectric beam pre-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.
  • beam-shaping elements 431, 432, 433 which are arranged such that each one Sensor device S1, S2, S3 is associated with a beam-shaping elements 431, 432, 433 in its associated signal direction SI1, SI2, SI3.
  • the connection between the substrate 52 and the housing 51 can be accomplished in many different ways, for example, by gluing, soldering, welding, screwing, etc.
  • the housing 51 with the integral beam-shaping elements 431, 432, 433 becomes one-piece formed from a moldable or castable material.
  • the Signalauswert worn 20 controls the process of sending and receiving radar signals by the sensor devices S1, S2, S3, with which it is connected via conductor tracks L1, L2, L3.
  • the sensor devices S1, S2, S3 In the arrangement of the sensor devices S1, S2, S3 according to the example of FIG. 1 For example, it is possible to determine a speed along the axis on which the sensor devices S1, S2 lie, and an orthogonal speed along the axis on which the sensor devices S2, S3 are located.
  • the speeds determined in this way can be output as an output signal OUT from the signal evaluation device 20 to the outside of the radar sensor device 50 in order, for example, to be displayed on a display or used for further processing in a vehicle safety system (eg ESP).
  • ESP vehicle safety system
  • Fig. 2a, b are partial enlargements of a sensor device of Fig. 1 ,
  • FIG. 2a is an enlargement of the section A1 of Fig. 1 shown, wherein the sensor device S1 is shown enlarged.
  • FIG. 2b shows the structure of the chip 411 of the sensor device S1 without attached dielectric preforming device 421.
  • 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 quality of the speckle evaluation can be controlled or set via beam shaping by means of the rod-shaped dielectric lens 421 or beam shaping via the beam-shaping lens 431.
  • the described sensor devices S1, S2, S3 preferably send out electromagnetic waves at a constant frequency in the direction of the roadway.
  • the electromagnetic signals which are reflected perpendicularly and are again received by the respective sensor device S1, S2, S3 are preferably down-converted to baseband (i.e., at the transmission frequency) and fed to the signal processing device 20.
  • baseband i.e., at the transmission frequency
  • a known delay correlator can be used. This will produce one of the baseband signals, e.g. SX are shifted in time until the comparison with the signal from the other sensor means located on the same axis shows a maximum match. From the shift time and distance of the sensor devices on the substrate 52, one 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 from the mean value before the 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 sampled amplitude-limited, for example in an A / D converter, or polarized 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.
  • sensor device S1 ' which is integrated in a chip 411', 3 antenna devices 451 a, 451b, 451 c, two mixers 461 a, 461b, a reference source R, and an RF source 441 on.
  • the mixers 461a, 461b provide respective output signals SX1, SX2.
  • the sensor device S1 '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 SX1 and SX2 (e.g., by reducing noise).
  • Fig. 4 is sensor devices of a radar sensor device according to a third embodiment of the present invention.
  • the functionality of the sensor device S1'a, S1'b, S1'c according to Fig. 4 corresponds to the functionality of the sensor device S1 'according to Fig. 3 , However, the components are built on three individual chips 411'a, 411'b, 411'c.
  • the chip 411a includes the antenna element 451'a, the reference source R and the mixer 441.
  • the chip 411'b includes the antenna element 451'b and the mixer 461a '.
  • the chip 411'c contains the antenna element 451'c and the mixer 461 b '.
  • FIG. 10 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 S11, S21, S23, S31 according to FIG. 5 is cruciform.
  • the sensor device S22 is used only for emitting radar signals, whereas the sensor devices S11, 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 S11, S22, S31.
  • FIG. 10 is an arrangement of sensor devices of a radar sensor device according to a fifth embodiment of the present invention.
  • arrangement of the sensor devices S01-S09 is provided a matrix-shaped arrangement in columns and rows.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Claims (14)

  1. Dispositif de détection à radar (50) pour un véhicule comprenant :
    une première pluralité de dispositifs de détection intégrés (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c; S11-S31 ; S01-S09) qui sont montés sur une surface (O) d'un substrat (52) ;
    les dispositifs de détection intégrés (S1, S2, S3 ;
    S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09) étant configurés de telle sorte qu'ils peuvent émettre par le biais d'un dispositif à antenne (451, 452, 453 ; 451a, 451b, 451c ; 451a', 451b', 451c') correspondant des signaux radar dans une direction de signal (SI1, SI2, SI3) correspondante qui s'éloigne de la surface (O) et/ou les recevoir depuis la direction de signal (SI1, SI2, SI3) correspondante ; et
    un boîtier (51) pour héberger la première pluralité de dispositifs de détection intégrés (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09), le boîtier (51) présentant une zone de paroi (W) dans laquelle est intégré au moins un élément de mise en forme du rayon (431, 432, 433) ;
    caractérisé en ce
    qu'une deuxième pluralité d'éléments de mise en forme du rayon (431, 432, 433) sont intégrés dans la zone de paroi (W) du boîtier (51) ;
    les éléments de mise en forme du rayon (431, 432, 433) étant disposés dans la zone de paroi (W) de telle sorte qu'à chaque dispositif de détection (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09) est associé un seul élément de mise en forme du rayon (431, 432, 433) dans sa direction de signal (SI1, SI2, SI3) associée ; et
    les dispositifs de détection intégrés (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09) étant disposés de manière à déterminer une première vitesse du véhicule équipé du dispositif de détection à radar (50) par rapport à la chaussée au-dessous du véhicule le long d'un premier axe et une deuxième vitesse du véhicule équipé du dispositif de détection à radar (50) par rapport à la chaussée au-dessous du véhicule le long d'un deuxième axe orthogonal au premier axe.
  2. Dispositif de détection à radar (50) selon la revendication 1, un dispositif de traitement de signal (20) étant monté sur le substrat (52) pour le traitement des signaux des dispositifs de détection (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09).
  3. Dispositif de détection à radar (50) selon la revendication 2, le dispositif de traitement de signal (20) étant réalisé sous la forme d'une puce séparée qui est reliée avec les dispositifs de détection (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09) par le biais de pistes conductrices (L1, L2, L3).
  4. Dispositif de détection à radar (50) selon l'une des revendications précédentes, les dispositifs de détection intégrés (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09) étant intégrés dans des puces individuelles (411, 412, 413) de telle sorte que chaque puce (411, 412, 413) présente exactement un dispositif à antenne (451, 452, 453 ; 451a, 451b, 451c ; 451a', 451b', 451c').
  5. Dispositif de détection à radar (50) selon l'une des revendications précédentes, les dispositifs de détection intégrés (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09) étant intégrés dans une ou plusieurs puces de telle sorte qu'au moins une puce (S1') présente plusieurs dispositifs à antenne.
  6. Dispositif de détection à radar (50) selon l'une des revendications précédentes, les dispositifs de détection intégrés (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09) étant disposés en forme de matrice.
  7. Dispositif de détection à radar (50) selon l'une des revendications précédentes, un dispositif de détection central (S22) étant prévu exclusivement pour émettre des signaux radar et plusieurs dispositifs de détection périphériques (S11, S21, S23, S31) entourant le dispositif de détection central (S22) étant prévus exclusivement pour recevoir des signaux radar.
  8. Dispositif de détection à radar (50) selon la revendication 7, les dispositifs de détection périphériques (S11, S21, S23, S31) étant disposés en deux lignes orthogonales.
  9. Dispositif de détection à radar (50) selon l'une des revendications précédentes, un dispositif de mise en forme du rayon (421, 422, 423) en forme de barre étant à chaque fois prévu sur les dispositifs à antenne (451, 452, 453 ; 451a, 451b, 451c ; 451a', 451b', 451c').
  10. Dispositif de détection à radar (50) selon l'une des revendications précédentes, le substrat (52) étant un circuit imprimé.
  11. Dispositif de détection à radar (50) selon l'une des revendications précédentes, le boîtier (51) entourant le substrat (52) en forme de parallélépipède de telle sorte que la zone de paroi (W) est le côté supérieur du parallélépipède.
  12. Dispositif de détection à radar (50) selon l'une des revendications précédentes, lequel est conçu pour la mesure de la vitesse d'après un procédé de corrélation du temps de propagation.
  13. Dispositif de détection à radar (50) selon l'une des revendications précédentes, lequel est conçu pour fonctionner selon la méthode de Speckle.
  14. Dispositif de détection à radar (50) selon la revendication 2, le dispositif de traitement de signal (20) étant intégré dans l'un des dispositifs de détection (S1, S2, S3 ; S1'; S1'a, S1'b, S1'c ; S11-S31 ; S01-S09).
EP08786260A 2007-08-23 2008-07-18 Dispositif de détection par radar Not-in-force EP2186161B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710039834 DE102007039834A1 (de) 2007-08-23 2007-08-23 Radarsensorvorrichtung
PCT/EP2008/059480 WO2009024421A1 (fr) 2007-08-23 2008-07-18 Dispositif de détection par radar

Publications (2)

Publication Number Publication Date
EP2186161A1 EP2186161A1 (fr) 2010-05-19
EP2186161B1 true EP2186161B1 (fr) 2012-11-14

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EP08786260A Not-in-force EP2186161B1 (fr) 2007-08-23 2008-07-18 Dispositif de détection par radar

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EP (1) EP2186161B1 (fr)
DE (1) DE102007039834A1 (fr)
WO (1) WO2009024421A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014014860B3 (de) * 2014-10-06 2015-09-17 Audi Ag Radarsensoranordnung und Kraftfahrzeug
GB2551840A (en) * 2016-07-01 2018-01-03 Cambridge Communication Systems Ltd An antenna for a communications system
WO2018002666A1 (fr) * 2016-07-01 2018-01-04 Cambridge Communication Systems Limited Antenne pour système de communication
US10852418B2 (en) * 2016-08-24 2020-12-01 Magna Electronics Inc. Vehicle sensor with integrated radar and image sensors

Citations (2)

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Publication number Priority date Publication date Assignee Title
DE4412770A1 (de) * 1994-04-13 1995-10-19 Siemens Ag Mikrowellen-Linsenantennenanordnung für Kraftfahrzeug-Abstandswarnradar
US6366245B1 (en) * 1998-12-21 2002-04-02 Robert Bosch Gmbh Device for directionally emitting and/or receiving electromagnetic radiation

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Publication number Priority date Publication date Assignee Title
DE19642810C1 (de) 1996-10-17 1998-04-02 Bosch Gmbh Robert Radarsystem, insbesondere Kraftfahrzeug-Radarsystem
DE10237790A1 (de) 2002-08-17 2004-02-26 Robert Bosch Gmbh Einrichtung zur Erfassung und Auswertung von Objekten im Umgebungsbereich eines Fahrzeugs
US6897819B2 (en) 2003-09-23 2005-05-24 Delphi Technologies, Inc. Apparatus for shaping the radiation pattern of a planar antenna near-field radar system
DE102004007315A1 (de) * 2004-02-14 2005-08-25 Robert Bosch Gmbh Nahbereichsradar mit Mehrfachsensorik zur Ortung von in einem Medium eingeschlossenen Objekten
DE102004037907A1 (de) * 2004-08-05 2006-03-16 Robert Bosch Gmbh Radarsensor für Kraftfahrzeuge
DE102004059332A1 (de) 2004-12-09 2006-06-14 Robert Bosch Gmbh Radar-Transceiver

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4412770A1 (de) * 1994-04-13 1995-10-19 Siemens Ag Mikrowellen-Linsenantennenanordnung für Kraftfahrzeug-Abstandswarnradar
US6366245B1 (en) * 1998-12-21 2002-04-02 Robert Bosch Gmbh Device for directionally emitting and/or receiving electromagnetic radiation

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EP2186161A1 (fr) 2010-05-19
WO2009024421A1 (fr) 2009-02-26
DE102007039834A1 (de) 2009-02-26

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