EP2550544A1 - Dispositif d'assistance au conducteur pour un véhicule et procédé pour faire fonctionner un appareil radar - Google Patents

Dispositif d'assistance au conducteur pour un véhicule et procédé pour faire fonctionner un appareil radar

Info

Publication number
EP2550544A1
EP2550544A1 EP11710469A EP11710469A EP2550544A1 EP 2550544 A1 EP2550544 A1 EP 2550544A1 EP 11710469 A EP11710469 A EP 11710469A EP 11710469 A EP11710469 A EP 11710469A EP 2550544 A1 EP2550544 A1 EP 2550544A1
Authority
EP
European Patent Office
Prior art keywords
test signal
receiving
signal
radar device
signals
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11710469A
Other languages
German (de)
English (en)
Inventor
Udo Haberland
Urs Luebbert
Uwe Papziner
Frank Sickinger
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren 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 Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP2550544A1 publication Critical patent/EP2550544A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • G01S2013/9314—Parking operations
    • 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
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/406—Means for monitoring or calibrating by simulation of echoes using internally generated reference signals, e.g. via delay line, via RF or IF signal injection or via integrated reference reflector or transponder
    • G01S7/4069—Means for monitoring or calibrating by simulation of echoes using internally generated reference signals, e.g. via delay line, via RF or IF signal injection or via integrated reference reflector or transponder involving a RF signal injection

Definitions

  • the invention relates to a driver assistance device for a vehicle which has a radar device for determining at least one measured variable related to an object external of the vehicle.
  • the radar apparatus includes at least a first and a second receiving antenna for receiving signals, respectively. It also includes a first and a second downmixer: the first downmixer is coupled to the first receive antenna via a first receive path, and the second downmixer is coupled to the second receive antenna via a second receive path.
  • the down-converters serve to down-mix the received signals into respective baseband signals.
  • the radar device also includes a control device for receiving the baseband signals and for determining the at least one measured variable based on the baseband signals.
  • the target angle is an angle between a radar device and a
  • vehicle-external object connecting line and a reference line which passes through the radar device The interest is directed in particular at the
  • Phase monopulse measurement This method is used to determine the target angle and represents a known method in radar technology. To determine the target angle, as well as possibly other measured variables, at least two are required
  • Receiving antennas which two individual antennas and two
  • Receive antenna arrays arrays.
  • the signals received by the receiving antennas are in two separate receiving channels or
  • Receive path prepared and processed as digital signals using a control device.
  • the target angle - and possibly other measured variables - is determined as a function of the phase shift between the received signals.
  • a radar needs two receiving channels to determine the measured quantities with high accuracy.
  • a receiving channel or receiving path consists of a receiving antenna and a downmixer (receiving mixer).
  • the phase of the down-mixed signals is not determined solely by the propagation path and the propagation properties in the air, so not determined solely by the position of the object relative to the radar, but is also highly dependent on the operating temperature, as well as the deviations of the
  • the first reception path including the first downmixer may cause a different shift of the phase of the received signal than the second reception path including the second downmixer.
  • the respective phase shifts are the same through the first and the second reception path. If these shifts differ in phase, the most accurate determination of the measured variables-in particular of the target angle-can not be achieved.
  • Driver assistance device of the type mentioned can be operated particularly reliable.
  • a radar device of a driver assistance device serves for
  • Determining at least one on a vehicle external object related measure It comprises at least a first and a second receiving antenna for each
  • a first down-converter is coupled to the first receive antenna, namely via a first receive path;
  • a second down-converter is coupled to the second receiving antenna, namely via a second receiving path.
  • the down-converters serve to down-mix the received signals into respective baseband signals.
  • a control device receives the baseband signals and determines the at least one measured variable based on the baseband signals.
  • the radar device has test means which are used to generate a local test signal and to couple the same test signal into the first reception path and / or into the second Receiving path are formed.
  • the control device receives the test signal mixed down by the first down-converter as the first test signal on the one hand and / or the test signal mixed down by the second down-converter as the second test signal on the other hand.
  • test means which generate a local test signal and couple into the first and / or the second reception path.
  • the first downmixer generates a first test signal from the test signal, i. the test signal in baseband; the second downmixer generates a second test signal according to the local test signal.
  • the control device can check the functionality of the respective reception paths, namely on the basis of the first and the second test signal. Namely, the controller may cause generation of the local test signal to then check whether the first and / or the second test signal is / are present at all. In this way, it is possible to check the readiness to receive the respective receive paths.
  • the provision and coupling of the test signal into both the first and the second reception path has the advantage that the control device may detect a deviation in the phase shift through the two reception paths and possibly correct the measured variable. On the basis of the respective phases of the first and the second test signal, the control device can namely detect whether or not the two reception paths have the same phase characteristics.
  • the at least one measured variable can thus be determined with the utmost accuracy, namely independently of the influence of the
  • Determination of a target angle of a vehicle external object ensures high accuracy.
  • the controller may be based on the first
  • Test signal on the one hand and / or on the other hand on the basis of the second test signal on the other hand the first and the second receiving path to check its functionality out.
  • the readiness to receive the respective functional paths can thus be checked, and the control device can optionally detect an operating error or a defective receiving path, as can a corresponding one
  • Output error message By such an error message can / can faulty receive path and / or the entire radar device must be clearly identified, so that a technician is clearly informed about which radar device is actually defective. The technician does not have to have all the vehicles in the vehicle
  • Receive paths include that the test signal is generated and the controller checks the presence of the respective test signals.
  • the control device can determine from the first test signal and from the second test signal a correction variable which is used for a correction of the at least one measured variable. This increases the accuracy in determining the measurand; it is corrected using the correction quantity.
  • the correction quantity is a phase difference between a phase of the first test signal and a phase of the second test signal. It is thus possible to determine such measured quantities with the highest accuracy, which are determined as a function of the respective phase information of the received signals. Namely, for example, a target angle can be determined with highest accuracy.
  • Target angle is an angle between a radar device
  • control device can use the local test signal to check the reception paths for their respective functional capability and / or to determine a correction variable and to correct the at least one measured variable-namely in particular the target angle-using the same correction variable.
  • the procedure is quasi a "self-calibration of the radar.
  • Such a calibration and / or said checking the operation of the first and / or the second receive path can / can be done in the radar in a test mode.
  • This test mode is preferably a to a normal mode or Operating mode in which the radar sends transmission signals and processes the received signals, separate mode. In the test mode, the radar thus preferably transmits no transmission signals.
  • such a method can be performed: In the radar device, the local test signal is generated in the test mode and in the two reception paths
  • the radar unit transmits no transmission signals, so that, in principle, no signals are received by the receiving antennas.
  • the test signal is down-converted by both the first down-mixer and the second down-mixer, namely, the baseband; the first downmixer outputs a first test signal to the controller, and the second downmixer outputs a second test signal to the controller.
  • the controller calculates a difference between the phases of the first and second test signals. This difference in phase is stored by the control device, namely for a later correction of a measured variable, for example the target angle.
  • Such a test mode may last a very short period of time. For example, the duration of such a test mode may be in one
  • the test mode can be ended and the radar device enters an operating mode.
  • the radar may transmit a predetermined number of frequency-modulated signal pulses (also known as "chirps.")
  • the first and second receive antennas then each receive a receive signal which is the transmit signal reflected from an object
  • Downstream mixers downlink the receive signals and provide respective ones
  • Baseband signals ready for the controller. From the baseband signals, the control device determines the measured variable - for example the target angle - initially independent of the phase difference determined in the test mode. The measured variable determined in this way is subsequently corrected on the basis of the phase difference.
  • the radar device may transition to the test mode prior to each operating mode or cycle in which a predetermined number of frequency modulated signal pulses are transmitted by the radar device, respectively. Determining the correction quantity before each measurement cycle ensures that the measurement variable can be determined with highest accuracy after each measurement cycle.
  • the same test signal can also be generated permanently by the control device, namely during the operation of the radar device. Then there is always one - the Control device known - frequency component in the respective baseband signals. Since this frequency is known, it can then be suppressed by the control device - for example by a notch filter.
  • the test means - which serve to generate and couple the local test signal into the first and / or the second reception path - include an up-conversion mixer. Such an up-converter may then generate the local test signal. An output of the up-converter may be coupled to the first receive path on the one hand and / or to the second receive path on the other hand.
  • the respective coupling can, for example, by means of a
  • the two directional couplers are then preferably constructed the same, so that there is a symmetrical coupling in the two
  • Receive paths results.
  • the downconverters may then mix the test signal back into the baseband, namely the respective test signals.
  • Upconverter can thus be fed with the oscillator signal of a local oscillator already present in the radar device.
  • the radar thus comes without an additional oscillator; it is unnecessary to use an additional component with the associated disadvantages in terms of space, weight and cost.
  • the local oscillator is preferably coupled via a directional coupler or a power divider or a similar component to an input of the up-converter.
  • a directional coupler or a power divider or a similar component to an input of the up-converter.
  • For the up-converter is preferred only a small part of the power of
  • Tapped oscillator signal Namely, the directional coupler or the power divider, a part of a value range of -25 dB to -15 dB from the performance of
  • a power in a value range from -25 dBm to -15 dBm can be picked up.
  • Amplifier for that part of the oscillator signal which is used for the supply of the downmixer. Also, for the tapped for the up-converter oscillator signal no additional amplifier is required.
  • the up-converter is thus fed with a relatively low level oscillator signal; In contrast, the power of a pilot signal from which the up-converter generates the local test signal may be correspondingly higher, so that the diodes of the up-converter
  • the test signal is preferably single-sideband modulated.
  • the up-converter may receive a first pilot signal - at a predefined frequency - as well as a second pilot signal phase-shifted by 90 ° to the first pilot signal from the controller. Then, the up-converter of the first and second pilot signals can generate the single sideband modulated test signal. So the upmixer can be a single sideband upmixer. Numerous measurements have shown that such single-sideband modulation of the test signal enables the detection of the total phase error of the two receive paths, including the down-converters.
  • the radar device is preferably a continuous wave radar which is designed to emit a frequency-modulated continuous electromagnetic wave (also known as FMCW (Frequency Modulated Continuous Wave) radar).
  • FMCW Frequency Modulated Continuous Wave
  • a receiver of the radar device - except the two downmixers - for each receive path also one
  • Low-pass filter, an amplifier and an analog-to-digital converter include.
  • the signals received by the first and the second receiving antenna are then mixed down in the receiver in the baseband, low-pass filtered and analog-digital converted.
  • the radar device preferably uses a separate transmission antenna, be it a single transmission antenna or a transmission antenna array, which is fed by means of a local oscillator to generate a transmission signal.
  • the transmitting antenna can be phased, so overall a relatively wide
  • the driver assistance device for lane change assistance, for monitoring the blind spot, as well as for
  • the driver assistance device can also the
  • Lane Departure Warning and / or a parking aid are examples of parking aids.
  • An inventive vehicle in particular a motor vehicle, comprises a driver assistance device according to the invention or a preferred embodiment of the driver assistance device.
  • At least one measured quantity related to an object external to the vehicle is determined by the same radar device.
  • Signals are received through at least a first and a second receiving antenna. There is a down-mixing of the received signals into respective baseband signals by one with the first
  • Receive path coupled second down mixer on the other.
  • Control device receives the baseband signals and determines the at least one measured variable based on the baseband signals.
  • a local test signal is generated in the radar device and coupled into the first reception path and / or in the second reception path.
  • the control device receives the test signal mixed down by the first down-converter as the first test signal on the one hand and / or the test signal mixed down by the second down-converter as the second test signal
  • FIG. 1 is a schematic representation of a plan view of a motor vehicle with a
  • FIG. 2 is a schematic representation of a plan view of the motor vehicle according to FIG. 1, the detection of different partial areas being explained in more detail by a radar device;
  • FIG. 3 shows a schematic illustration of a radar device of the driver assistance device
  • FIG. 4 is a schematic representation of a general layout (RF layout) of an up-converter of the radar.
  • Fig. 5 is a schematic representation of a general construction plan (RF layout) of the radar.
  • a motor vehicle 1 as shown in Fig. 1, comprises a
  • the driver assistance device 2 which supports the driver when driving the motor vehicle 1.
  • the motor vehicle 1 is a passenger car in the embodiment.
  • the driver assistance device 2 can be, for example, a blind spot monitoring system and / or an accident early warning system and / or an ACC (Adaptive Cruise Control) system.
  • the driver assistance device 2 comprises a first radar device 3 and a second radar device 4.
  • the first radar device 3 is arranged in a left corner of a rear bumper and the second radar device 4 in a right corner of the same bumper.
  • the first and the second radar devices 3, 4 are Frequency Modulation Continuous Wave Radar (FMCW) radar devices.
  • FMCW Frequency Modulation Continuous Wave Radar
  • the radar devices 3, 4 also include a control device 5 which, for example, includes one for the first and the second radar device 3 , 4 common microcontroller 6 may include, as well as a digital signal processor, not shown in the figures. Alternatively, two separate microcontroller 6 and / or two digital signal processors may be provided which, for example, via an existing in the motor vehicle 1
  • Communication bus communicate with each other.
  • the first radar device 3 has a detection area 7, which in FIG. 1 is delimited by two lines 7a, 7b.
  • the opening angle of the detection area 7 - ie the angle between the lines 7a, 7b - is in the example about 170 °.
  • the second radar device 4 has a detection area 8, which is delimited by two lines 8a, 8b.
  • the opening angle of the detection area 8 - ie the angle between the lines 8a, 8b - is also about 170 ° in the exemplary embodiment.
  • the detection areas 7, 8 of the radars 3, 4 overlap, so that a
  • Overlap area 9 is given.
  • the overlapping area 9 is bounded at an angle by the lines 7b, 8b.
  • an opening angle In the exemplary embodiment, an opening angle
  • Overlap area 9 about 70 °.
  • the radars 3, 4 can locate an object 10.
  • the radar devices 3, 4 can each determine a distance Ri, R 2 , of the object 10 from the respective radar device 3, 4, respectively a target angle ⁇ 1, ⁇ 2 , and a relative speed of the object 10 with respect to the motor vehicle 1 - these are Measurement variables of the radar devices 3, 4.
  • the target angles ⁇ 1, ⁇ 2 are angles between in each case a reference line 1 1, which passes through the corresponding radar device 3, 4, and a connecting line 12, which passes through the object 10 and the respective radar device 3, 4 runs.
  • the radars 3, 4 can the respective target angle ⁇ 1, ⁇ 2 after the
  • the radar device 3-and analogously also the radar device 4- can have different partial regions A, B, C, D, E, F, G, H of the detection region 7
  • Transmitting antenna can be pivoted electronically in the horizontal direction, namely according to the phase array principle. At least one receiving antenna can in this case have a broad receiving characteristic in the horizontal direction, with which the entire detection area 7 is covered. Other embodiments may alternatively realize narrow receive angle ranges in conjunction with broad transmit lobes.
  • the detection area 8 of the radar unit 4 is here also subdivided into a plurality of partial areas, which are detected in succession by the radar device 4.
  • the further description refers only to the radar device 3, the operation of the radar device 4 corresponds to that of the radar device 3.
  • the subareas A to H are detected by the radar 3 in succession.
  • the radar unit 3 transmits separately for each subarea A to H (ie per beam) a predetermined sequence of frequency-modulated signal pulses (chirps).
  • radar device 3 sends one sequence of frequency-modulated signal pulses per measurement cycle and per sub-region A to H in each case.
  • the partial areas A to H are thus illuminated one after the other in time, and objects located in the partial areas A to H are detected.
  • the radar device 3 Before each measurement cycle or before the initiation of the operating mode - i. before each illumination of all subareas A to H - the radar device 3 initially - as will be explained in more detail below - goes into a test mode.
  • Fig. 3 shows a schematic representation of the structure of a receiver 13 of a single radar device 3, 4.
  • the receiver 13 comprises a first and a second receiving antenna 14, 15, the individual antennas or a group of
  • the first receiving antenna 14 is via a first
  • Receive path or receiving channel 16 coupled to a first down-mixer 17, namely with its RF (Radio Frequency) input 18.
  • An output 19 of the first down-mixer 17 is coupled to the controller 5, with a first channel input 20.
  • the output 19 of Downward mixer 17 can with the Control device 5 via an analog-to-digital converter (not shown) to be coupled. Alternatively, such a converter may be integrated into the control device 5.
  • the second receiving antenna 15 is coupled via a second receiving path 21 to an RF input 22 of a second downmixer 23.
  • An output 24 of the second downmixer 23 is also coupled to the control device 5, namely with its second channel input 25.
  • the control device 5 namely with its second channel input 25.
  • Control means 5 and the second down-mixer 23 may be connected to an analog-to-digital converter; Alternatively, such a converter may be integrated in the control device 5.
  • a low-noise amplifier (Low Noise Amplifier) can be integrated into the respective receive paths 16, 21.
  • a local oscillator 26 provides an oscillator signal or an LO (Local Oscillator) signal 27, namely at an output 28. With the oscillator signal 27 are the
  • the oscillator signal 27 is divided symmetrically by means of a power divider 31.
  • the first and second receiving antennas 14, 15 receive signals S E i, S E2 . These are receive signals.
  • the signals S E i, S E2 are the transmission signals reflected by an object.
  • the received signals S E i, S E2 are determined by the respective
  • Down mixer 17, 23 mixed down, namely in the baseband.
  • the down-converters 17, 23 output baseband signals S BI , S ⁇ 2 .
  • These baseband signals S B i, S B2 are then converted analog-to-digital and processed by the control device 5.
  • the control device 5 determines on the basis of
  • Baseband signals S B i, S B2 the measured variables of the radar 3, 4, namely the distance Ri, R 2 , the relative speed, as well as the target angle ⁇ 1, ⁇ 2 -
  • the angle information of the received signals S EI , S E2 is determined in the control device 5 from a difference of the phases of the baseband signals S B i, S B2 .
  • the output phase of the downmixers 17, 23 is not determined solely by the signals S EI , S E2 of the two reception paths 16, 21, but is additionally also dependent on the operating temperature and the fluctuations of the production parameters
  • the target angle ⁇ 1 , ⁇ 2 depends on a phase shift between the
  • Baseband signals S B i, S B2 determined. In order to ensure a determination of the target angle ⁇ 1, ⁇ 2, as well as the distance R1, R 2 and the relative speed with the highest accuracy, the
  • the test means 32 are designed to generate a local test signal S P and to couple the same test signal S P into both the first and the second reception paths 16, 21 symmetrically.
  • the local test signal S P is single-sideband modulated.
  • the control device 5 generates at a first pilot output 33 a first pilot signal Spiiom at a second pilot output 34 generates a second pilot signal S Pi
  • 0 -ti can be a harmonic signal - for example, a sine wave signal.
  • 0 -ti may have a predetermined frequency.
  • the second pilot signal S PMo t2 is an equal signal and phase-shifted by 90 °.
  • 0t 2 can be generated for example by means of a small oscillator in the control device 5.
  • the test means 32 comprise an up-converter 35, which is designed for single sideband modulation and thus is a single-sideband mixer.
  • a first input 36 of the up-converter 35 is coupled to the first pilot output 32 while a second input 37 of the up-converter 35 is coupled to the second pilot output 34.
  • 0t 2 mixed up and superimposed, namely to the local test signal S P.
  • the high-frequency local test signal S P has such a frequency, which corresponds to the average frequency of the transmission signals of the radar 3, 4.
  • the local test signal S P is - as already stated - symmetrically coupled into the first and the second receive path 16, 21.
  • the test means 32 comprise a symmetrical power divider 38, which divides the local test signal S P.
  • the power of the test signal S P is halved.
  • the test signal S P is coupled into the respective receiving path 16, 21 by means of a directional coupler 39, 40.
  • the directional couplers 39, 40 are the same structure.
  • the local oscillator 26 is a common oscillator for the down-converters 17, 23 and the up-converter 35. It is controlled by the control device 5.
  • the oscillator 26 is, for example, a voltage-controlled oscillator (voltage control oscillator), which generates the oscillator signal 27 at a frequency which is dependent on the amplitude of a DC voltage provided to the oscillator 26 by the control device 5.
  • a part of the power of the oscillator signal 27 is coupled out for the up-converter 35, namely for example by means of a directional coupler 41. With this tapped oscillator signal 27 of the up-mixer 35 is fed, namely at an LO input 42.
  • This decoupled for the up-converter 35 part of the power of the oscillator signal 27 is preferably a very small part, namely for example -20dBm. It is unnecessary, an additional amplifier for the LO input 42, as well as for that oscillator signal 27, with which the down-converters 17, 23 are fed.
  • 0 t2 are namely generated with correspondingly higher power.
  • test signal S P in the first receive path 16 on the one hand and in the second receive path 21 on the other hand coupled.
  • the test signal S P is thus mixed by the first down mixer 17 on the one hand and the second downwards mixing he 23 on the other hand downwards, namely in the baseband.
  • the first down-converter 17 outputs a first test signal Sn from the test signal S P
  • the second down-converter 23 outputs a second test signal S T 2.
  • the test signals S T i, S T 2 are received by the control device 5, namely at the respective channel inputs 20, 25.
  • the radar device 3, 4 is in the test mode, before each measurement cycle or before the initiation of each operating mode.
  • the control device 5 first checks the reception paths 16, 21 for their functionality.
  • the control device 5 generates the pilot signals S Pi
  • the control device 5 determines a correction variable for a correction of the measured variables. Namely, the controller 5 may calculate a phase difference between the phase of the first test signal S T i and the phase of the second test signal S T 2 as a correction quantity. This phase difference is then used by the control device 5 for a correction of the measured variables, in particular the target angle ⁇ 1, ⁇ 2 . Because the phase difference gives the differences in the propagation and phase characteristics of the two receive paths 16, 21 and the down mixer 17, 23 and optionally other components of the receiver 13th again. Thus, possibly existing inaccuracies or deviations from a nominal dimension in the determination of the measured variables can be taken into account.
  • 0 t2, S P are also permanently generated by the control device 5, namely during operation of the radar 3, 4.
  • is obtained continuously 0t i, Spüot2 corresponding frequency component in the respective baseband signals SBI, SB2- Since this frequency is known, it can then be suppressed by the controller 5 - for example by a notch filter.
  • the up-converter 35 is a so-called rat race mixer with diodes (not shown).
  • the oscillator signal 27 is applied.
  • the oscillator signal 27 is using a
  • Power divider 43 halves and propagates to a first port 44 of a first annular coupler 45 on the one hand and to a first port 46 of a second annular coupler 47 on the other. From the first entrance 36 of the
  • is propagated 0 -ti toward a second port 48 of the coupler 45. Accordingly, the second pilot signal S Pi
  • Superpositions extend to a 90 ° hybrid coupler 50. There these superpositions overlap, so that the local test signal S P is output.
  • FIG. 5 also shows, in a schematic representation, the general structure (HF layout) of the receiver 13.
  • a ground surface is designated 51 in FIG.
  • Two mounting surfaces 52, 53 are provided, on which the first down-mixer 17 and the second down-mixer 23 are mounted, respectively.
  • respective microstrip lines can be seen, which form the first and second receiving paths 16, 21, respectively. These lines are on the one hand with terminals 54, 55 for the
  • Receive antennas 14, 15 are coupled and on the other hand led to the mounting surfaces 52, 53 to be connected there to the respective down-converters 17, 23.
  • the local test signal S P is coupled via the power divider 38 in microstrip technology and via the respective directional couplers 39, 40 in the receiving paths 16, 21.
  • the power divider 31 is provided in microstrip technology and via a Microstrip line 56 coupled to the first down-mixer 17 on the one hand and via a further microstrip line 57 to the second down-mixer 23.
  • the directional couplers 39, 40 are constructed identically.
  • the power divider 38 is a symmetrical power divider, so that the power of the local test signal S P is halved.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif d'assistance au conducteur (2) pour un véhicule, lequel dispositif présente un appareil radar (3, 4) pour déterminer au moins une grandeur de mesure ( α1, α2, R1, R2) se rapportant à un objet (10) extérieur au véhicule, l'appareil radar (3, 4) comprenant: au moins une première et une deuxième antenne de réception (14, 15) servant chacune à recevoir des signaux (SE1, SE2), un premier mélangeur abaisseur (17) couplé à la première antenne de réception (14) par une première voie de réception (16) et un deuxième mélangeur abaisseur (23) couplé à la deuxième antenne de réception (15) par une deuxième voie de réception (21) servant chacun à mélanger avec abaissement de fréquence les signaux reçus (SE1, SE2) en signaux respectifs de bande de base (SB1, SB2), et un dispositif de commande (5) pour recevoir les signaux de bande de base (SBi, SB2) et pour déterminer au moins cette grandeur de mesure (α1, α2, R1, R2) sur la base des signaux de bande de base (SB1, SB2), l'appareil radar (3, 4) présentant des moyens d'essai (32) pour produire un signal de contrôle local (SP) et pour injecter ce signal de contrôle (SP) dans la première voie de réception (16) et/ou dans la deuxième voie de réception (21) de sorte que le dispositif de commande (5) reçoit le signal de contrôle (SP) mélangé avec abaissement de fréquence par le premier mélangeur abaisseur (17) comme premier signal d'essai (ST1) d'une part et/ou le signal de contrôle (SP) mélangé avec abaissement de fréquence par le deuxième mélangeur abaisseur (23) comme signal d'essai (ST2) d'autre part. L'invention concerne également un procédé correspondant.
EP11710469A 2010-03-24 2011-03-21 Dispositif d'assistance au conducteur pour un véhicule et procédé pour faire fonctionner un appareil radar Withdrawn EP2550544A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010012624A DE102010012624A1 (de) 2010-03-24 2010-03-24 Fahrerassistenzeinrichtung für ein Fahrzeug und Verfahren zum Betreiben eines Radargeräts
PCT/EP2011/054195 WO2011117173A1 (fr) 2010-03-24 2011-03-21 Dispositif d'assistance au conducteur pour un véhicule et procédé pour faire fonctionner un appareil radar

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US (1) US9176228B2 (fr)
EP (1) EP2550544A1 (fr)
JP (1) JP2013522636A (fr)
KR (1) KR20130052557A (fr)
CN (1) CN102906591A (fr)
DE (1) DE102010012624A1 (fr)
WO (1) WO2011117173A1 (fr)

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CN102906591A (zh) 2013-01-30
WO2011117173A1 (fr) 2011-09-29
US20130057427A1 (en) 2013-03-07
JP2013522636A (ja) 2013-06-13
DE102010012624A1 (de) 2011-09-29
KR20130052557A (ko) 2013-05-22
US9176228B2 (en) 2015-11-03

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