EP2813000A1 - Capteur radar - Google Patents

Capteur radar

Info

Publication number
EP2813000A1
EP2813000A1 EP12809743.3A EP12809743A EP2813000A1 EP 2813000 A1 EP2813000 A1 EP 2813000A1 EP 12809743 A EP12809743 A EP 12809743A EP 2813000 A1 EP2813000 A1 EP 2813000A1
Authority
EP
European Patent Office
Prior art keywords
signal
radar sensor
mixer
intermediate frequency
compensation
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Withdrawn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
EP12809743.3A
Other languages
German (de)
English (en)
Inventor
Christian Waldschmidt
Dirk Steinbuch
Raik SCHNABEL
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 EP2813000A1 publication Critical patent/EP2813000A1/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Withdrawn legal-status Critical Current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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/06—Receivers
    • H04B1/16—Circuits
    • H04B1/30—Circuits for homodyne or synchrodyne 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
    • 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
    • G01S13/88—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
    • G01S7/288—Coherent receivers
    • G01S7/2886—Coherent receivers using I/Q processing
    • 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
    • G01S7/354—Extracting wanted echo-signals

Definitions

  • the invention relates to a radar sensor, in particular a radar sensor for motor vehicles, comprising an oscillator for generating a transmission signal and a mixer for generating an intermediate frequency signal by mixing part of the transmission signal with a reception signal.
  • Radar sensors are used, for example, in motor vehicles for detecting the surroundings of the vehicle and for locating vehicles in front.
  • a driver assistance system comprising a radar sensor which have comfort functions, for example a distance and / or cruise control, such as a cruise control.
  • ACC Adaptive Cruise Control
  • Transmitting and receiving antennas of a radar sensor are usually arranged behind a cover, also referred to as radome, and / or a radar lens.
  • the transmission signal is radiated through a transmission antenna, and a reception signal is received by a reception antenna.
  • a reception antenna In this case, separate transmitting and receiving antennas or a common transmitting / receiving antenna can be used.
  • the received signal is downsampled by mixing with a portion of the transmit signal into an intermediate frequency signal or baseband signal.
  • the intermediate frequency signal of the radar sensor or each channel of the radar sensor is usually amplified in an evaluation circuit by an amplifier and fed to an analog / digital converter.
  • the transmission signal is frequency-modulated, for example according to one or more modulation ramps.
  • Information about the distance and the relative speed of a radar object reflecting the transmitted signal can then be obtained from the intermediate frequency signal based on the received signal in a manner known to the person skilled in the art.
  • the distance of the radar object over the duration of the radar signal in the received signal and causes a difference in frequency between the received signal and the same time, according to the more advanced Modu- lationsrampenverlauf, emitted transmission signal.
  • the relative velocity of the radar object causes a corresponding Doppler shift of the reflected radar signal.
  • Radar objects at a short distance from the radar sensor can lead to received signals whose frequency deviates only slightly from the transmitted signal. It is therefore desirable to evaluate the intermediate frequency signal even in the low frequency range.
  • reflections of the transmission signal directly at the radar sensor or its coverage may cause the reception signal to have a frequency component which is equal to the transmission frequency.
  • Crosstalk within the circuit of the radar sensor between the transmission branch and the reception branch and / or between several channels of the radar sensor can also result in a DC component of the intermediate frequency signal due to the mixture of signal components having the same frequency.
  • Such a DC component of the intermediate frequency signal is undesirable because it can cover low-frequency signal components of the intermediate frequency signal and so, for example, nearby radar objects can not be reliably detected.
  • An intermediate frequency signal evaluation means comprises an adder which sums an offset compensation DC voltage to the intermediate frequency signal before applying the sum to an adjustable frequency intermediate frequency amplifier.
  • the frequency dependence of the DC component is changed in such a way that the variation of the DC component within the frequency interval used becomes as small as possible. Based on the measured waveform, the parameter for the offset compensation voltage can be set.
  • a compensation of a DC component of the intermediate frequency signal by summing a compensation DC voltage to the intermediate frequency signal can be done.
  • the disadvantage here is that the mixer is burdened by the occurrence of the unwanted DC voltage component, so that a degradation of the mixer can occur. Even if a compensation DC voltage is fed into the mixer, the mixer may be degraded. By a Gleichwoodsungsanteilsbedeged degradation of the mixer, the performance and thus the reliability of the radar sensor can be affected.
  • the object of the invention is to provide a novel radar sensor which enables the highest possible reliability of the mixer and good evaluability of the intermediate frequency signal.
  • This object is achieved in a radar sensor of the type mentioned by an offset compensation unit for generating an oscillating compensation signal which is supplied to the mixer in addition to said part of the transmission signal. This makes it possible to reduce a DC voltage component of the intermediate frequency signal generated by the mixer.
  • an oscillating compensation signal is supplied in the transmission mode, which oscillates, for example, with the frequency of an interfering signal component of the received signal, a disturbing signal component, which would otherwise cause a DC component of the intermediate frequency signal at the output of the mixer, already be compensated on the input side of the mixer or in front of the mixer.
  • the mixer can be relieved.
  • the compensation signal oscillates with the frequency of the transmission signal. It is for example coupled to the transmission signal.
  • the compensation signal and the received signal are supplied to the mixer.
  • the oscillating compensation signal is supplied to the mixer by being fed in the receiving path already before the mixer.
  • the oscillating condensation signal may be summed with the received signal before the received signal is fed to the mixer together with the oscillating compensation signal.
  • the supply of the oscillating compensation signal can also be effected directly at the mixer, preferably at a feed-in point in the vicinity of a feed-in point of the received signal.
  • the radar sensor preferably comprises a sensor for measuring a DC voltage component of the intermediate frequency signal and at least one control circuit for regulating an amplitude, power and / or phase position of the oscillating compensation signal as a function of a measured DC component of the intermediate frequency signal.
  • at least one of the said parameters of the compensation signal can be readjusted in order to minimize the DC voltage component of the intermediate frequency signal.
  • the object is further achieved by a method for operating a radar sensor, in which an oscillator generates a transmission signal and a mixer mixes a part of the transmission signal with a received signal, characterized in that the mixer in addition to the part of the transmission signal an oscillating signal is supplied such that a DC voltage component of an intermediate frequency signal generated by the mixer is reduced. That is, the DC component is less than it would be without the supply of the oscillating signal.
  • FIG. 1 is a block diagram of a radar sensor according to the invention
  • FIG. 2 shows a control loop of the radar sensor
  • Fig. 3 is a schematic block diagram of a multi-channel radar sensor
  • Fig. 1 shows a FMCW radar sensor for motor vehicles with a monolithic microwave integrated circuit (MMIC) 10 and antenna elements 12, 14 for receiving or transmitting radar signals.
  • MMIC monolithic microwave integrated circuit
  • the radar sensor is connected to an evaluation circuit 16 for the evaluation of intermediate frequency signals IF (Intermediate Frequency) of the radar sensor.
  • IF Intermediate Frequency
  • the MMIC 10 includes a voltage controlled local oscillator (VCO) 18 for generating a radar transmit signal or LO (local oscillator) signal, and at least one transmit / receive channel 20 coupled to at least one receive antenna element 12 and at least one a transmitter antenna element 14 is connected and comprises a mixer 22 for generating an intermediate frequency signal IF from a radar receive signal.
  • VCO voltage controlled local oscillator
  • the operating frequency of the oscillator 18 is about 77 GHz and is controlled for example via a modulation device 24.
  • the modulation device 24 is configured, for example, the oscillation frequency of the oscillator 18, and thus to control the frequency of the LO signal according to a modulation scheme comprising at least one frequency ramp.
  • the LO signal generated by the oscillator 18 is supplied to the transmitting antenna element 14 via an optional buffer amplifier 26. A part of the LO signal is supplied to the mixer 22.
  • the radar signal received by the receiving antenna element 12 is also supplied to the mixer 22 and mixed with the diverted portion of the transmission signal in a conventional manner to produce the intermediate frequency signal IF.
  • the intermediate frequency signal IF is fed to an input of the evaluation circuit 16.
  • the part of the LO signal supplied to the mixer 22 is phase-shifted by means of a phase shifter 28 with respect to the transmission signal.
  • the radar sensor 10 and the evaluation circuit 16 may be part of a driver assistance system, for example.
  • the radar sensor 10 has at least one channel 20, preferably a plurality of channels, for example four channels 20.
  • the LO signal of the oscillator 18 is supplied to each channel 20.
  • Another output of the oscillator 18 is connected to the channels 20 to provide the channels 20 with a reference signal "test".
  • a part of the LO signal of the oscillator 18 is coupled to this.
  • the frequency of the reference signal corresponds to the frequency of the LO signal.
  • the reference signal may be coupled to the LO signal.
  • the channel 20 optionally includes a signal generator 30 configured to generate an oscillating compensation signal.
  • the compensation signal is generated based on the supplied reference signal "test".
  • the compensation signal can be supplied via a controllable buffer amplifier 32 and a controllable phase shifter 34 to the received signal input of the mixer 22.
  • the channel 20 comprises a circuit point 36 spaced from the mixer 22 at which the compensation signal provided at the output of the phase shifter 34 is received by the receiving antenna element 12. NEN received signal is combined or summed and is supplied to the receiving signal to a feed point of the mixer 22.
  • the signal generator 30 can be formed for example by a modulator or by an oscillator coupled to the reference signal. While in the described operating mode of the transmission operation of the radar sensor 10, the signal generator 30 of the channel 20 generates the oscillating compensation signal, for example, in a self-test mode of the radar sensor 10, the signal generator 30 based on the reference signal generate a test signal for simulating the reception case. Thus, the signal generator 30 can take over several functions.
  • the oscillating compensation signal can be provided, for example, in one embodiment with an offset compensation unit without a signal generator 30, by coupling out of the reference signal "test” or from the LO signal via the buffer amplifier 32 and the phase shifter 34, or the reference signal “Test” itself can be made available via the buffer amplifier 32 and the phase shifter 34 of the offset compensation unit as an oscillating compensation signal.
  • the adjustable gain of the buffer amplifier 32 and the adjustable by the phase shifter 34 phase position of the compensation signal makes it possible to generate a compensation signal with which the occurring at the output of the mixer 22 DC component of the intermediate frequency signal IF can be minimized.
  • the signal generator 30, the buffer amplifier 32 and the phase shifter 34 thus form an offset compensation unit 35 for at least partially compensating a DC component of the intermediate frequency signal IF.
  • the compensation signal is fed before the feed point of the mixer 22 in the receive path, the mixer 22 is effectively relieved of occurring DC voltage components. As a result, a degradation of the mixer 22 caused by a DC load can be largely prevented.
  • the radar sensor 10 comprises a sensor 38 for detecting a DC voltage component of the intermediate frequency signal IF at the output of the mixer 22.
  • An output value of the sensor 38 which is dependent on the DC component is fed to a control unit 40.
  • the control unit 40 is connected to the buffer amplifier 32, the phase shifter 34 and optionally to the signal generator 30 of the offset compensation unit 35, in order to control them as a function of the DC voltage component measured by the sensor 38.
  • the sensor 38 can measure the DC voltage component, for example, analogously by measuring the DC-coupled IF signal IF. However, the sensor 38 may also be configured to digitize the intermediate frequency signal and to determine the DC voltage component based on the digitized intermediate frequency signal. For example, the sensor 38 may include an A / D converter. The determination of the DC component based on the digitized IF signal may be e.g. by Fourier transformation, in particular by formation of the fast Fourier transformation (FFT).
  • FFT fast Fourier transformation
  • the control unit 40 may be configured to control the amplitude, the power and / or the phase position of the compensation signal based on the measured DC voltage component 38 and optionally further based on the frequency of the LO signal or the reference signal "test". For example, a signal characterizing the frequency of the relevant signal can be supplied to the control unit 40, for example by the modulation device 24.
  • the parameters of the compensation signal for example the amplitude and the phase position, which are selected for minimizing the DC voltage component for a given signal frequency can be determined by test measurements, for example, by setting different parameter values at regular intervals during operation of the radar sensor and measuring the respective DC component of the intermediate frequency signal IF.
  • test measurements for example, by setting different parameter values at regular intervals during operation of the radar sensor and measuring the respective DC component of the intermediate frequency signal IF.
  • deviations of the current parameter values respectively down and up within a small environment around the current parameter values may be used as a test to generate the compensation signal, and those parameter values may be used with the The lowest measured DC voltage component of the intermediate frequency signal IF are defined as new parameter values for the further operation of the radar sensor. In this way, an adaptive tracking of the parameter values can take place if the interference signals occurring in the receiving branch change over time.
  • Fig. 2 shows schematically a control circuit for the compensation signal.
  • a transmission path 42 symbolizes the transmission-reception channel 20 including potential interference signal sources.
  • the MMIC 10 comprises an analog circuit part 10a, a digital circuit part 10b and an interface 44 for driving the analog circuit part 10a and for communication with the digital circuit part 10b.
  • the analog circuit part 10a comprises the oscillator 18 and the channels 20.
  • the transmission signal is supplied to the channels 20 via an optional buffer amplifier 26.
  • the digital circuit part 10b comprises the control unit 40, which may be formed for example by a digital, program-controlled processing unit or CPU (Central Processing Unit).
  • the interface 44 comprises, for example, at least one D / A converter 46 for controlling the oscillator 18, the signal generator 30, the buffer amplifier 32 and / or the phase shifter 34 of the offset compensation device 35 of each channel 20. Furthermore, the interface 44 comprises at least, for example an A / D converter for digitizing the output of the sensor 38 of the respective channel 20.
  • the processing unit may be configured to control further functions of the radar sensor, in particular of the MMIC 10.
  • the processing unit may, for example, in addition to the function of the control unit 40 and the function of the modulator Ons worn 24 take over.
  • the control unit 40 may access an optional non-volatile memory 50 for storing a parameter value of the offset compensation unit 35.
  • the memory 50 for example, the current, above-mentioned parameter values of the compensation signal can be stored so that they are available again even after a temporary switch-off of the radar sensor.
  • the control unit 40 is optionally configured to output an alarm signal AL if the control unit 40 detects a degradation of the relevant mixer 22 on the basis of an exceeding of a limit value for the measured DC voltage component of the intermediate frequency signal IF.
  • the alarm signal AL can for example be supplied to the evaluation circuit 16 via an interrupt input. In this way, monitoring of the offset compensation unit 35 integrated in the MMIC 10 can take place, so that the reliability of the radar sensor is further increased. The reliability of the evaluation of the received radar signals is thus improved. On the whole, not only a degradation of the mixer 22 can be largely prevented by the offset compensation unit 35, but an improved error detection can be made possible by a fast, MMIC-internal detection of an inadmissible high DC voltage component. Both contribute to improved system security of the radar sensor.
  • FIG. 4 shows a variant of the radar sensor according to FIG. 1. Corresponding components are identified by the same reference numerals. While in the example of FIG. 1 the receive signal and the compensation signal at node 36 are merged and fed together to the mixer 22 at a feed point, in the example of FIG. 4 the receive signal and the compensation signal are each fed directly to the mixer 22 at adjacent feed points or (FIG. shown in dashed lines) supplied at a common feed point.

Landscapes

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

Abstract

Capteur radar comprenant un oscillateur (18) pour générer un signal d'émission et un mélangeur (22) pour générer un signal à fréquence intermédiaire (FI) par mélange d'une partie du signal d'émission (LO) avec un signal de réception, et comprenant une unité de compensation de décalage (35) pour générer un signal de compensation oscillant qui est fourni au mélangeur (22) en plus de ladite partie du signal d'émission (LO); et procédé pour faire fonctionner un capteur radar.
EP12809743.3A 2012-02-10 2012-12-17 Capteur radar Withdrawn EP2813000A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012202007A DE102012202007A1 (de) 2012-02-10 2012-02-10 Radarsensor
PCT/EP2012/075755 WO2013117276A1 (fr) 2012-02-10 2012-12-17 Capteur radar

Publications (1)

Publication Number Publication Date
EP2813000A1 true EP2813000A1 (fr) 2014-12-17

Family

ID=47501192

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12809743.3A Withdrawn EP2813000A1 (fr) 2012-02-10 2012-12-17 Capteur radar

Country Status (5)

Country Link
US (1) US20150009064A1 (fr)
EP (1) EP2813000A1 (fr)
CN (1) CN104106219A (fr)
DE (1) DE102012202007A1 (fr)
WO (1) WO2013117276A1 (fr)

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Also Published As

Publication number Publication date
CN104106219A (zh) 2014-10-15
US20150009064A1 (en) 2015-01-08
DE102012202007A1 (de) 2013-08-14
WO2013117276A1 (fr) 2013-08-15

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