EP2616840A1 - Capteur radar pour véhicules à moteur, notamment capteur lca - Google Patents

Capteur radar pour véhicules à moteur, notamment capteur lca

Info

Publication number
EP2616840A1
EP2616840A1 EP11739027.8A EP11739027A EP2616840A1 EP 2616840 A1 EP2616840 A1 EP 2616840A1 EP 11739027 A EP11739027 A EP 11739027A EP 2616840 A1 EP2616840 A1 EP 2616840A1
Authority
EP
European Patent Office
Prior art keywords
radar sensor
antenna elements
antenna
radar
microwave power
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Withdrawn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
EP11739027.8A
Other languages
German (de)
English (en)
Inventor
Thomas Binzer
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 EP2616840A1 publication Critical patent/EP2616840A1/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Withdrawn legal-status Critical Current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
    • 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
    • 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
    • H01Q21/08—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a rectilinear path
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q9/00—Electrically-short antennas having dimensions not more than twice the operating wavelength and consisting of conductive active radiating elements
    • H01Q9/04—Resonant antennas
    • H01Q9/0407—Substantially flat resonant element parallel to ground plane, e.g. patch antenna
    • 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
    • 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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/28—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the amplitude
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
    • H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
    • H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means
    • H01Q3/36—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means with variable phase-shifters

Definitions

  • the invention relates to a radar sensor for motor vehicles, having a transmitting antenna in the form of a planar array antenna with a plurality of juxtaposed antenna elements, and with a feed network for supplying microwave power to the antenna elements.
  • Antennas of radar sensors intended for use in motor vehicles are often implemented as patch antennas on an HF substrate. This allows a cost-effective construction of the radar sensor.
  • array antennas By using array antennas, the desired directional characteristic of the radar sensor in azimuth and / or elevation can be achieved without the need for a radar lens.
  • separate antennas are used to radiate the radar signal and to receive the reflected signal.
  • the desired directional characteristic of the transmitting antenna in the azimuth can be achieved in that the microwave power is supplied in phase to the plurality of antenna elements arranged next to one another on the substrate.
  • the main emission is oriented at right angles to the plane of the substrate and covering an azimuth angle range of about -45 ° to about + 45 °.
  • On the receiving side a plurality of adjacently arranged antenna elements or patches are used, but belonging to different receiving channels, so that it can be concluded on the basis of the phase differences between the received signals from the various antenna elements on the azimuth angle of the object.
  • the invention is directed to a rearview radar sensor system for motor vehicles, for example, in a lane change aid (LCA) system that assists the driver in changing lanes by warning of vehicles in their own lane or fast lane from behind approach.
  • LCA lane change aid
  • the ra Rearward sensor systems have a long range, so that fast vehicles can be detected in time, and on the other hand, they must be able to locate vehicles that are in close proximity or almost at the same level in the fast lane and thus for the driver lying in the blind spot.
  • the object of the invention is to provide a simple design and cost radar sensor system, which allows to meet the above requirements.
  • an asymmetrical antenna pattern is then formed so that a large part of the microwave power is radiated in a certain direction with high intensity and at the same time a smaller part of the microwave power is radiated to one side at a high azimuth angle becomes. In this way, it is possible to detect follow-up traffic on its own lane and in the fast lane, down to the dead spot, with a single radar sensor.
  • the feed network is designed such that the amplitude of the emitted microwaves also varies from antenna element to antenna element, for example decreasing from one end of the row of antenna elements to the opposite end.
  • the power distribution of the emit- radar radiance equalized over the azimuth angle, so that locating gaps between the main lobe and the side lobes are largely closed.
  • FIG. 1 shows a schematic illustration of a plurality of antenna elements arranged in a horizontal row on a substrate, not shown, with an example of the phase and amplitude assignment of the individual antenna elements;
  • FIG. 2 shows an antenna diagram for the antenna arrangement and the phase and amplitude assignment according to FIG. 1;
  • FIG. 3 is a schematic diagram of a radar sensor according to an embodiment of the invention.
  • Fig. 4 is a locating diagram of an LCA radar sensor according to the invention.
  • Fig. 1 In Fig. 1, four antenna elements 10, 12, 14, 16 are shown, which are arranged at equal intervals in a horizontal row on an RF substrate, not shown.
  • the antenna elements are shown here as individual patches.
  • the antenna elements Via a feed network, which will be described in more detail later, the antenna elements receive a microwave signal, which is then to be radiated as radar radiation.
  • phase and amplitude assignment of the antenna elements 10, 12, 14, 16 is also indicated in FIG.
  • the second antenna element 12 has a phase shift of 60 °
  • the third antenna element 14 has a phase shift of 120 °
  • the fourth antenna element 16 has a phase shift of 180 °.
  • the phase shift thus, it increases at equal increments (60 °) and the antenna elements 10 and 16 at the opposite ends of the row receive out of phase signals.
  • the amplitude of the signals decreases linearly from left to right across the row of antenna elements.
  • the amplitude of the leftmost antenna element 10 is normalized to 1, 0, the amplitude decreases to the right from antenna element to antenna element.
  • the amplitude decreases degressively to 0.7 for the antenna element 12, 0.5 for the antenna element 14 and finally 0.35 for the antenna element 16.
  • FIG. 2 shows the antenna diagram resulting from the phase and amplitude assignment shown in FIG.
  • the curve 18 in FIG. 2 indicates the relative power of the radar radiation emitted by the antenna elements 10, 12, 14, 16 as a function of the azimuth angle. Interference between the radiation components emitted by the individual antenna elements results in a pronounced maximum at an azimuth angle of approximately 20 °. For larger azimuth angles, the performance drops. In the range of + 20 ° to -90 °, on the other hand, there are some secondary maxima, so that the power remains at a relatively high level within the range of about -60 °. Due to the uneven amplitude assignment according to FIG. 1, it is achieved that the minima in the antenna diagram are relatively weak.
  • FIG. 3 shows a detailed circuit diagram of the essential components of a radar sensor with a transmitting antenna arrangement according to FIG. 1.
  • the four antenna elements 10, 12, 14, 16 together form a transmission antenna Tx.
  • Three further antenna elements 20 are arranged at uneven lateral intervals and together form a receiving antenna Rx.
  • the antenna elements 10 - 16 and 20 each consist of a column of patches 22, in which the microwave signal is coupled in phase.
  • This main maximum extends over an angular range of about -45 ° to about + 45 °.
  • sidelobes are only weakly formed.
  • azimuth corresponds to the directional characteristic of the transmitting antenna Tx, however, the antenna diagram of FIG. 2, so that you get a total, without the use of a radar lens, bundled in the vertical, but in the horizontal asymmetrically fanned radar beam.
  • the microwave power for the transmitting antenna Tx is generated by an oscillator 24 and supplied to the individual antenna elements 10, 12, 14, 16 via a parallel feed network 26.
  • This network branches from the output of the oscillator 20 first into two branches 26, which differ in length by ⁇ / 3, as a third of the wavelength ⁇ .
  • Each branch 26 then branches again into two branches 30 and 32 with a length difference of ⁇ / 6 each. In this way, the phase assignment shown in Fig. 1 is achieved.
  • one of the branches 28, 30 and 32 contains a so-called impedance transformer 34, with which the power transmitted to the relevant antenna elements is adjusted by the desired amount.
  • the three antenna elements 20 of the receiving antenna Rx are connected to a three-channel mixer 36 which mixes the signal received from each individual antenna element 20 with the transmission signal supplied by the oscillator 24.
  • intermediate signals are obtained as mixed products whose frequency corresponds to the frequency difference between the radiation emitted by the transmitting antenna Tx and the radiation received at the same time by the relevant antenna element 20 of the receiving antenna Rx.
  • the frequency of the oscillator 24 is modulated in a ramp (FMCW radar, Frequency Modulated Continuous Wave)
  • the frequency of the intermediate frequency signals depends both on the signal propagation time and thus on the distance of the located object as well as on the Doppler shift and thus on the relative speed of the object
  • the phase differences between the intermediate frequency signals represent corresponding phase differences between the radar returns received from the various antenna elements 20. These phase differences are due to the different lengths of the signal paths to the side-by-side antennas. NEN elements 20 dependent and therefore provide information about the azimuth angle of the located object.
  • the antenna elements 10, 12, 14, 16 of the transmitting antenna and the antenna elements 20 of the receiving antenna and the feed network 26 may be formed in microstrip technology on a common substrate, which also accommodates the three-channel mixer 36 and the oscillator 24 and possibly other components of the radar sensor.
  • FIG. 4 shows a locating field 40 of a radar sensor 42 according to the invention.
  • the radar sensor 42 is installed in the rear of a motor vehicle 44 such that the azimuth angle 0 ° corresponds to the y 'axis of a rectangular coordinate system ( ⁇ ', y ') that is slightly twisted relative to a vehicle coordinate system (x, y) y axis corresponds to the reverse direction of travel of the vehicle).
  • the radar sensor 42 is a back-space radar sensor, which is part of an LCA system that warns the driver of any intended lane change before follow-up traffic.
  • follow-up traffic consists of vehicles 46, 48 approaching in the fast lane (here on left-hand traffic).
  • the radar sensor is oriented so that its long main lobe (around the azimuth angle of + 20 °) covers the fast lane and a large part of the vehicle 44's own lane. So z. b. the vehicle 46 can be detected early.
  • the vehicle 48 has just been set for overtaking and is for the driver of the vehicle 44 in the blind spot. Due to the asymmetrical shape of the locating field, however, the vehicle 48 can still be detected.

Landscapes

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

Abstract

L'invention concerne un capteur radar pour véhicules à moteur (44), comportant une antenne d'émission (Tx) sous la forme d'une antenne réseau planaire comprenant plusieurs éléments antenne (10, 12, 14, 16) disposés côte à côte, et un réseau d'alimentation (26) pour fournir une puissance hyperfréquence aux éléments antenne. L'invention est caractérisée en ce que le réseau d'alimentation (26) est conçu pour fournir aux éléments antenne (10, 12, 14, 16) la puissance hyperfréquence avec un déphasage augmentant par incréments constants d'une extrémité de la rangée à l'autre extrémité.
EP11739027.8A 2010-09-14 2011-07-18 Capteur radar pour véhicules à moteur, notamment capteur lca Withdrawn EP2616840A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010040692A DE102010040692A1 (de) 2010-09-14 2010-09-14 Radarsensor für Kraftfahrzeuge, insbesondere LCA-Sensor
PCT/EP2011/062195 WO2012034736A1 (fr) 2010-09-14 2011-07-18 Capteur radar pour véhicules à moteur, notamment capteur lca

Publications (1)

Publication Number Publication Date
EP2616840A1 true EP2616840A1 (fr) 2013-07-24

Family

ID=44584741

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11739027.8A Withdrawn EP2616840A1 (fr) 2010-09-14 2011-07-18 Capteur radar pour véhicules à moteur, notamment capteur lca

Country Status (6)

Country Link
US (1) US9140787B2 (fr)
EP (1) EP2616840A1 (fr)
JP (1) JP5890418B2 (fr)
CN (1) CN103097910B (fr)
DE (1) DE102010040692A1 (fr)
WO (1) WO2012034736A1 (fr)

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CN107453043A (zh) * 2017-06-23 2017-12-08 惠州市德赛西威汽车电子股份有限公司 一种汽车侧后方雷达天线阵列以及天线面阵
CN109326890A (zh) * 2018-11-14 2019-02-12 广州合智瑞达科技有限公司 一种角度测量的阵列天线及设有该阵列天线的电路板
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Also Published As

Publication number Publication date
CN103097910A (zh) 2013-05-08
JP5890418B2 (ja) 2016-03-22
US9140787B2 (en) 2015-09-22
US20130234881A1 (en) 2013-09-12
WO2012034736A1 (fr) 2012-03-22
JP2013541002A (ja) 2013-11-07
DE102010040692A1 (de) 2012-03-15
CN103097910B (zh) 2016-01-20

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