EP2478387A1 - Radarsensorvorrichtung mit wenigstens einer planaren antenneneinrichtung - Google Patents
Radarsensorvorrichtung mit wenigstens einer planaren antenneneinrichtungInfo
- Publication number
- EP2478387A1 EP2478387A1 EP10731761A EP10731761A EP2478387A1 EP 2478387 A1 EP2478387 A1 EP 2478387A1 EP 10731761 A EP10731761 A EP 10731761A EP 10731761 A EP10731761 A EP 10731761A EP 2478387 A1 EP2478387 A1 EP 2478387A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- antenna
- radar sensor
- columns
- sensor device
- antenna columns
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- 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
-
- 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
- H01Q21/22—Antenna units of the array energised non-uniformly in amplitude or phase, e.g. tapered array or binomial array
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Definitions
- Radar sensor device with at least one planar antenna device The invention relates to a radar sensor device having at least one planar one
- Antenna device which has a plurality of vertically aligned and as a thinned array in a plane parallel to each other at certain distances arranged antenna columns, each having at least two line-fed patch elements. Furthermore, the invention relates to a device, in particular a driver assistance system of a motor vehicle.
- radar sensors are increasingly being used to detect the traffic environment in the context of driver assistance systems, for example for radar-assisted distance control (Adaptive Cruise Control Systems / ACC).
- Adaptive Cruise Control Systems / ACC Such a cruise control system is known for example from Robert Bosch GmbH, "Adaptive cruise control ACC", yellow series, edition 2002, technical briefing.
- planar antenna devices or patch antennas are particularly suitable for use in the aforementioned radar sensors.
- antennas In such antennas is a planar array of radiating resonators (antenna elements or patch elements / patches), which are each assigned a defined amplitude and phase.
- the superimposition of the radiation patterns of the individual patch elements yields the resulting radiation pattern of the antenna, the lines being responsible for the characteristic of the azimuth and the columns for the characteristic of the elevation.
- the antenna elements are usually arranged in vertically oriented antenna columns.
- Many radar sensors with the use of the environment detection in the automotive sector use such planar antenna concepts.
- One advantage of the planar antenna concepts is the resulting low installation depth of the radar sensors.
- Wavelength in air ( ⁇ / 2) is located.
- the antenna aperture is the deciding factor. The larger the antenna aperture, the better the angular accuracy. If the antenna aperture is provided with a uniform linear array structure as in the previously known radar sensors, then a large number of mixers is required, which leads to increased overall sensor costs.
- DE 100 36 131 A1 proposes a radar sensor for detecting the traffic situation in the vicinity of a motor vehicle with a carrier element, with an array of patch antennas in the form of a combination of a filled subarray of patch antennas and a thinned subarray of patch antennas. However, the patch antennas are redundant, d. H. the signal relationships are measured several times.
- a radar sensor device is provided with at least one planar antenna device, which has a plurality of vertically aligned and as a thinned array in a plane parallel to one another at specific distances from each other.
- MRA minimum redundancy arrays
- the determined distances of the antenna columns from each other can each be an integer multiple of a constant basic distance. It is advantageous if the constant basic distance is less than or equal to half the wavelength in air. Then there is a uniqueness for the range of +/- 90 degrees.
- a device in particular a driver assistance system of a motor vehicle is specified in claim 4.
- An exemplary embodiment of the invention is described in principle below with reference to the drawing. Show it:
- Figure 1 is a schematic representation of the essential components of a
- Figure 2 is a schematic representation of an array of planar antenna device with four antenna columns according to the prior art
- FIG. 3 shows a schematic representation of an array of a planar antenna device with three antenna columns for a first embodiment of the radar sensor device according to the invention.
- Figure 4 is a schematic representation of an array of planar antenna device with four antenna columns for a second embodiment of the radar sensor device according to the invention.
- a motor vehicle 10 shown in FIG. 1 with an adaptive cruise control device 11 as a driver assistance system has as an object detection sensor a radar sensor device 12 mounted on the front end of the motor vehicle 10, in whose housing a control device 14 of the adaptive cruise control device 11 is accommodated.
- the radar sensor device 12 is used to detect objects in an environment of the motor vehicle 10.
- the radar sensor device 12 is connected to the control device 14.
- the control device 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 control unit 14 and the HMI control unit 22 may also be integrated in a control device of the adaptive cruise control device 12, in particular in a common housing.
- the radar sensor device 12 uses a multi-beam radar to measure the distances, relative speeds and azimuth angles of objects located in front of the motor vehicle 10 which reflect radar waves.
- the raw data received at regular time intervals, for example every 10 ms, are evaluated in the control device 14 in order to identify and track individual objects and, in particular, to recognize a vehicle driving directly ahead on its own lane and to select it as the target object.
- the radar sensor device 12 has a planar antenna device with arrays 15. 2 or 15. 3 of antenna gaps 15 b to 15 h (see FIGS. 3 and 4).
- FIG. 2 shows a planar antenna device or a non-thinned array 15.1 having four antenna columns 15a according to the prior art that are oriented vertically and are arranged parallel to each other in a plane at intervals.
- the antenna gaps 15a are arranged in equidistant, ie constant basic distances, which correspond to half the wavelength ⁇ in air, to each other.
- 0.5 "wavelength ⁇ in air, 1, 0 ⁇ wavelength ⁇ in air and 1, 5 ⁇ wavelength ⁇ in air occur as different distances.
- FIG. 3 shows a planar antenna device for a first embodiment of the radar sensor device 12 according to the invention with three antenna columns 15b, 15c and 15d arranged vertically at right angles to each other and arranged as a thinned array 15.2 in a plane parallel to each other, each having a plurality of line-fed patch elements 23 ,
- the thinned array 15.2 of antenna columns 15b, 15c and 15d is implemented with minimal redundancy such that the amount of the determined spacings of the antenna columns 15b, 15c and 15d to each other in the thinned array 15.2 all the different distances between any two antenna columns 15a of the corresponding non-thinned Having arrays 15.1 of Figure 1 a planar antenna device with the same antenna aperture and the same nature of the antenna columns 15a at least once but in a minimum possible number.
- FIG. 4 shows a planar antenna device for a second embodiment of the radar sensor device 12 according to the invention with four antenna columns 15e, 15f, 15g and 15h arranged vertically and arranged as a thinned array 15.3 in a plane parallel to each other at specific spacings.
- 15e between the antenna columns, and 15f a distance of 0.5 ⁇ wavelength ⁇ in air
- 15f and 15g a distance of 1, 5 ⁇ wavelength ⁇ in air
- between the antenna columns 15g and 15h a Distance in the amount of 1, 0 ⁇ wavelength ⁇ provided in air.
- the antenna gaps 15e and 15g a distance of 2.0 ⁇ wavelength ⁇ in air
- between the antenna columns 15f and 15h a distance of 2.5 ⁇ wavelength ⁇ in air
- between the antenna columns 15e and 15h a distance of 3, 0 ⁇ wavelength ⁇ in air.
- the determined distances of the antenna columns 15a to 15g to each other are each an integer multiple of a constant basic distance, namely half the wavelength ⁇ in air.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009029503A DE102009029503A1 (de) | 2009-09-16 | 2009-09-16 | Radarsensorvorrichtung mit wenigstens einer planaren Antenneneinrichtung |
PCT/EP2010/060316 WO2011032745A1 (de) | 2009-09-16 | 2010-07-16 | Radarsensorvorrichtung mit wenigstens einer planaren antenneneinrichtung |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2478387A1 true EP2478387A1 (de) | 2012-07-25 |
Family
ID=42797290
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10731761A Ceased EP2478387A1 (de) | 2009-09-16 | 2010-07-16 | Radarsensorvorrichtung mit wenigstens einer planaren antenneneinrichtung |
Country Status (6)
Country | Link |
---|---|
US (1) | US9310478B2 (de) |
EP (1) | EP2478387A1 (de) |
JP (1) | JP5373974B2 (de) |
CN (1) | CN102612658B (de) |
DE (1) | DE102009029503A1 (de) |
WO (1) | WO2011032745A1 (de) |
Families Citing this family (31)
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CN103492900B (zh) * | 2011-04-20 | 2016-09-21 | 飞思卡尔半导体公司 | 天线装置、放大器和接收器电路、以及雷达电路 |
DE102011084610A1 (de) | 2011-10-17 | 2013-04-18 | Robert Bosch Gmbh | Winkelauflösender Radarsensor |
DE102012015250A1 (de) * | 2012-08-01 | 2014-02-06 | Audi Ag | Radarsensor für ein Kraftfahrzeug, Kraftfahrzeug und Kommunikationsverfahren |
FR2997796B1 (fr) * | 2012-11-08 | 2017-11-03 | Inst Nat Des Sciences Appliquees | Dispositif en forme de diedre aplati possedant une surface equivalente radar adaptee (maximisation ou minimisation) |
JP5697052B2 (ja) * | 2012-11-23 | 2015-04-08 | 古河電気工業株式会社 | アレーアンテナ装置 |
US9389305B2 (en) * | 2013-02-27 | 2016-07-12 | Mitsubishi Electric Research Laboratories, Inc. | Method and system for compressive array processing |
DE102013205892A1 (de) | 2013-04-03 | 2014-10-09 | Robert Bosch Gmbh | Radarvorrichtung und Verfahren zum Betrieb einer Radarvorrichtung |
DE102013209530A1 (de) | 2013-05-23 | 2014-11-27 | Robert Bosch Gmbh | Bestimmung eines elevations-dejustagewinkels eines radarsensors eines kraftfahrzeugs |
DE102014200692A1 (de) * | 2014-01-16 | 2015-07-16 | Robert Bosch Gmbh | Verfahren, antennenanordnung, radarsystem und fahrzeug |
CN103792525B (zh) * | 2014-01-23 | 2016-03-23 | 西安电子科技大学 | 一种分布式宽带相控阵雷达阵列基线长度及带宽优化方法 |
DE112014006707B4 (de) | 2014-05-29 | 2021-07-29 | Toyota Jidosha Kabushiki Kaisha | Array-antennenvorrichtung |
US9664775B2 (en) * | 2014-09-29 | 2017-05-30 | Delphi Technologies, Inc. | Radar system and method for virtual antenna signals |
US9470782B2 (en) * | 2014-11-26 | 2016-10-18 | Valeo Radar Systems, Inc. | Method and apparatus for increasing angular resolution in an automotive radar system |
KR101673200B1 (ko) * | 2015-01-06 | 2016-11-08 | 블루웨이브텔(주) | 중장비 차량용 근거리 패치배열 레이더 안테나 |
WO2016155822A1 (de) * | 2015-04-01 | 2016-10-06 | Vega Grieshaber Kg | Antennenanordnung für ein füllstandmessgerät |
CN106546983B (zh) | 2015-09-17 | 2021-11-12 | 松下电器产业株式会社 | 雷达装置 |
JP6365494B2 (ja) | 2015-10-07 | 2018-08-01 | 株式会社デンソー | アンテナ装置及び物標検出装置 |
KR101890352B1 (ko) * | 2015-12-11 | 2018-08-21 | 주식회사 만도 | 차량용 레이더 장치 및 그의 고스트 제거 방법 |
US10677918B2 (en) | 2017-02-28 | 2020-06-09 | Analog Devices, Inc. | Systems and methods for improved angular resolution in multiple-input multiple-output (MIMO) radar |
JP2018182743A (ja) * | 2017-04-18 | 2018-11-15 | 日本電産株式会社 | スロットアレイアンテナ |
DE102017214575A1 (de) | 2017-08-21 | 2019-02-21 | Astyx Gmbh | Abbildendes Radarsystem mit einem Empfangsarray zur Winkelbestimmung von Objekten in zwei Dimensionen durch eine gespreizte Anordnung der Empfangsantennen einer Dimension |
DE102018210155A1 (de) * | 2018-06-21 | 2019-12-24 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Auswertung von Radarsignalen |
DE102018214966A1 (de) * | 2018-09-04 | 2020-03-05 | Robert Bosch Gmbh | Winkelauflösender Radarsensor |
DE102018124503A1 (de) * | 2018-10-04 | 2020-04-09 | HELLA GmbH & Co. KGaA | Radarsystem für ein Fahrzeug |
US11579287B2 (en) * | 2019-01-23 | 2023-02-14 | The Government Of The United States Of America, As Represented By The Secretary Of The Navy | Millimeter-wave radar for unmanned aerial vehicle swarming, tracking, and collision avoidance |
JP7228791B2 (ja) * | 2019-03-20 | 2023-02-27 | パナソニックIpマネジメント株式会社 | レーダ装置 |
DE102019114876B4 (de) * | 2019-06-03 | 2022-07-14 | Audi Ag | Radarantennenanordnung für ein Fahrzeug, umfassend zumindest ein Fahrzeugbauteil, und Fahrzeug |
CN110988882B (zh) * | 2019-10-31 | 2024-05-31 | 惠州市德赛西威汽车电子股份有限公司 | 一种77GHz稀疏阵汽车防撞雷达接收天线 |
US11435438B2 (en) * | 2019-12-30 | 2022-09-06 | Woven Planet North America, Inc. | Dynamic sparse radar array for scenarios |
US11777231B2 (en) * | 2020-11-19 | 2023-10-03 | Commscope Technologies Llc | Base station antennas having sparse and/or interleaved multi-column arrays |
CN113252998B (zh) * | 2021-04-30 | 2022-12-13 | 西南电子技术研究所(中国电子科技集团公司第十研究所) | 相控阵天线和、差波束信号电平的平坦度优化方法 |
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WO2003079486A1 (en) * | 2002-03-15 | 2003-09-25 | Brüel & Kjær | Beam forming array of transducers |
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US5774690A (en) * | 1995-09-14 | 1998-06-30 | The United States Of America As Represented By The Secetary Of The Navy | Method for optimization of element placement in a thinned array |
SE518207C2 (sv) * | 1999-09-10 | 2002-09-10 | Ericsson Telefon Ab L M | Gles gruppantenn |
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DE10036131A1 (de) | 2000-07-25 | 2002-02-07 | Volkswagen Ag | Radarsensor zur Erfassung der Verkehrssituation im Umfeld eines Kraftfahrzeuges |
JP4067456B2 (ja) * | 2003-06-09 | 2008-03-26 | 富士通テン株式会社 | レーダ装置及びその信号処理制御方法 |
US7714782B2 (en) * | 2004-01-13 | 2010-05-11 | Dennis Willard Davis | Phase arrays exploiting geometry phase and methods of creating such arrays |
JP4545460B2 (ja) * | 2004-03-10 | 2010-09-15 | 三菱電機株式会社 | レーダ装置およびアンテナ装置 |
WO2005101051A2 (en) * | 2004-04-12 | 2005-10-27 | Ghz Tr Corporation | Method and apparatus for automotive radar sensor |
CN1985187B (zh) * | 2004-07-16 | 2012-05-16 | 富士通天株式会社 | 单脉冲雷达装置及天线切换开关 |
JP2006047114A (ja) * | 2004-08-04 | 2006-02-16 | Fujitsu Ten Ltd | レーダ装置 |
DE102004059915A1 (de) * | 2004-12-13 | 2006-06-14 | Robert Bosch Gmbh | Radarsystem |
JP2007333656A (ja) * | 2006-06-16 | 2007-12-27 | Murata Mfg Co Ltd | レーダ装置 |
WO2008053685A1 (fr) * | 2006-11-01 | 2008-05-08 | Murata Manufacturing Co., Ltd. | Procédé de détection de cible par radar et dispositif de radar utilisant le procédé de détection de cible |
JP5130079B2 (ja) * | 2007-02-28 | 2013-01-30 | 株式会社デンソーアイティーラボラトリ | 電子走査式レーダ装置及び受信用アレーアンテナ |
US7609198B2 (en) * | 2007-05-21 | 2009-10-27 | Spatial Digital Systems, Inc. | Apparatus and method for radar imaging by measuring spatial frequency components |
JP4828553B2 (ja) * | 2008-01-29 | 2011-11-30 | 富士通テン株式会社 | レーダ装置、及び物標の角度検出方法 |
-
2009
- 2009-09-16 DE DE102009029503A patent/DE102009029503A1/de active Pending
-
2010
- 2010-07-16 JP JP2012529166A patent/JP5373974B2/ja active Active
- 2010-07-16 US US13/496,397 patent/US9310478B2/en active Active
- 2010-07-16 WO PCT/EP2010/060316 patent/WO2011032745A1/de active Application Filing
- 2010-07-16 EP EP10731761A patent/EP2478387A1/de not_active Ceased
- 2010-07-16 CN CN201080041611.0A patent/CN102612658B/zh active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003079486A1 (en) * | 2002-03-15 | 2003-09-25 | Brüel & Kjær | Beam forming array of transducers |
Also Published As
Publication number | Publication date |
---|---|
DE102009029503A1 (de) | 2011-03-24 |
CN102612658B (zh) | 2017-06-09 |
JP2013504764A (ja) | 2013-02-07 |
US20120223852A1 (en) | 2012-09-06 |
US9310478B2 (en) | 2016-04-12 |
WO2011032745A1 (de) | 2011-03-24 |
JP5373974B2 (ja) | 2013-12-18 |
CN102612658A (zh) | 2012-07-25 |
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