EP2981842A1 - Système radar et procédé avec réseau d'antennes présentant deux états de connexion à modulation différente - Google Patents

Système radar et procédé avec réseau d'antennes présentant deux états de connexion à modulation différente

Info

Publication number
EP2981842A1
EP2981842A1 EP14706002.4A EP14706002A EP2981842A1 EP 2981842 A1 EP2981842 A1 EP 2981842A1 EP 14706002 A EP14706002 A EP 14706002A EP 2981842 A1 EP2981842 A1 EP 2981842A1
Authority
EP
European Patent Office
Prior art keywords
radar
antenna
antenna array
switching state
switched
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP14706002.4A
Other languages
German (de)
English (en)
Inventor
Michael Schoor
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 EP2981842A1 publication Critical patent/EP2981842A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • H01Q3/24—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 orientation by switching energy from one active radiating element to another, e.g. for beam switching
    • 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
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
    • 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
    • G01S13/422—Simultaneous measurement of distance and other co-ordinates sequential lobing, e.g. conical scan
    • 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
    • G01S7/35—Details of non-pulse systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/22—Antenna units of the array energised non-uniformly in amplitude or phase, e.g. tapered array or binomial array
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q25/00—Antennas or antenna systems providing at least two radiating patterns
    • H01Q25/002—Antennas or antenna systems providing at least two radiating patterns providing at least two patterns of different beamwidth; Variable beamwidth antennas
    • 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
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation

Definitions

  • the invention relates to a radar device with a switched antenna array and a method for operating a radar device with a switched antenna array.
  • Modern vehicles are increasingly equipped with driver assistance systems. These driver assistance systems assist a driver in flowing traffic or, for example, when parking the vehicle on the roadside.
  • driver assistance systems assist a driver in flowing traffic or, for example, when parking the vehicle on the roadside.
  • target parameters such as distance and relative velocity of a
  • DE 10 2009 029 503 A1 discloses a radar sensor device having a planar antenna device which has a plurality of vertically oriented antenna columns in the form of a thinned array.
  • the time-multiplex method is suitable, in which the switched antennas are used one after the other.
  • a possible movement of the target objects must also be taken into account.
  • Antenna array which allows short time intervals between the individual switching states. There is also a need for a radar apparatus that enables phase evaluation across the various switching states of an antenna array used. Disclosure of the invention
  • the present invention in one aspect, provides a radar apparatus having a switched antenna array configured to receive a first radar echo in a first switching state and a second radar echo in a second switching state
  • Radar echo receive wherein the first radar echo is based on a radar signal emitted with a first modulation, and the second radar echo based on a radar signal emitted with a second modulation.
  • the present invention provides a method of operating a radar apparatus having a switched antenna array, comprising the steps of adjusting a first switching state in the switched antenna array, transmitting a first radar signal having a first modulation, receiving a first radar echo in a first switching state the antenna array, setting a second switching state in the switched antenna array; the emission of a second radar signal with a second modulation and the
  • Antenna arrays in a radar device are thus each closely linked to individually modulated signals.
  • a further advantage is that the use of differently modulated signals makes the uniqueness of the distance and relative speed estimation possible.
  • an improved angle estimation can be achieved.
  • Antenna characteristic of the switched antenna array in the second switching state different.
  • the angular resolution of the radar device can be further improved.
  • the radar apparatus includes a transmitting antenna configured to emit the first radar signal and the second radar signal.
  • the transmitting antenna is a switched antenna array.
  • a switched antenna array By using a switched antenna array as
  • Transmitting antennas are also different for transmitting the radar signals
  • the first radar signal and the second radar signal are transmitted alternately over a predetermined period of time.
  • the first radar signal and the second radar signal are FMCW-modulated radar signals.
  • FMCW Frequency Modulated Continuous Wave modulated radar signals have been well-proven for determining distance and relative velocity.
  • the present invention further comprises a motor vehicle with a radar device according to the invention.
  • Fig. 1 is a schematic representation of a motor vehicle with a
  • Fig. 2 is a schematic representation of a radar device with a
  • Fig. 3 is a frequency-time diagram with a sequence of frequency-modulated
  • FIG. 4 shows a schematic representation of a method for operating a
  • Figure 1 shows a motor vehicle 1 with a radar device 10 according to a
  • the radar device 10 comprises an antenna array, preferably a switched antenna array.
  • an antenna array preferably a switched antenna array.
  • different directional characteristics 20, 21 result.
  • the antenna array can be operated on the one hand with a relatively large synthetic aperture for a good angular resolution.
  • switching states are possible in which, for example, the uniqueness of the resolution can be increased.
  • the radar device 1 with transmitting antennas the same
  • FIG. 2 shows a schematic representation of a radar device according to a
  • the radar device comprises a control device 13.
  • This control device 13 generates the transmission signals which are transmitted via the transmitting antenna 12.
  • the transmitting antenna 12 can be either on a single antenna element, or as shown, from an antenna array with several
  • Antenna elements 12a exist. If the transmitting antenna 12 from a
  • Antenna array is composed of several elements 12a, several different switching states are also possible for the transmitting antenna 12. In this way, the
  • Antenna characteristic of the transmitting antenna 12 can be adjusted.
  • the receiving antenna 1 1 is preferably an antenna array having a plurality of receiving elements 1 1 a.
  • the receiving antenna 1 1 can be implemented as a switched receiving antenna in which the individual antenna elements 1 1 a via suitable switching elements in different
  • Configurations can be interconnected with each other and optionally only a part of the available receiving antenna elements 1 1 a is selected for further processing.
  • different switching states are possible. Depending on the switching state, for example, a few, preferably widely spaced, antenna elements 1 1 a can be selected in order to obtain the largest possible aperture. Alternatively, the selection of some closely spaced antenna elements 1 1 a is possible. Such a switching state preferably allows a directional characteristic with increased clarity.
  • the received signals of the antenna elements 1 1 a selected according to the switching state are supplied to the control unit 13.
  • the control unit 13 evaluates the received signals as a function of the corresponding transmission signal.
  • Receiving antenna elements 1 1 a is to be understood only as an example. Other, arbitrary numbers of transmitting antenna elements 12a and receiving antenna elements 11a are also possible. Also, the equidistant spacing of the individual antenna elements 1 1 a and 12 a shown in Figure 2 is only an example.
  • the antenna arrays 1 1 and 12 may also be a thinned-out antenna array in which there are at least partially larger gaps between the individual antenna elements. Thus, for example, relatively large apertures can be synthesized even with a relatively small number of antenna elements.
  • the arrangement of the individual antenna elements on a grid of ⁇ / 2 is possible, where ⁇ is the wavelength of the center frequency of the radar device used. But other distances for the antenna elements are possible.
  • the arrangement of the individual antenna elements is designed so that based on the switching states of the switched antenna arrays with as few
  • Antenna elements gives an optimal angle estimate.
  • FIG. 2 separate antenna arrays are shown for the transmitting antenna 12 and the receiving antenna 11. Moreover, it is also possible to use a common antenna array both for transmitting the transmission signals and for receiving the reflected signals. By this combination of transmitting antenna and receiving antenna in a common antenna array, a particularly efficient embodiment of the radar device is possible.
  • FIG. 3 shows a
  • Frequency-time diagram with two different modulations for the transmission signals Frequency-time diagram with two different modulations for the transmission signals.
  • the two modulations on the one hand an up-chirp with a rising frequency and on the other hand a down-chirp with a falling over time frequency are interleaved, ie it is alternately emitted in each case an up-chirp and a down-chirp.
  • a separate evaluation is carried out to make the combination of the two evaluations a unique one Determination of distance and relative speed.
  • more than two different modulations are possible in order to further improve the uniqueness. For example, multiple up-chirps and / or multiple down-chirps with different slopes may be used.
  • the antenna array of the transmitting antenna 12 and / or the antenna array of the receiving antenna 11 is operated in a different switching state.
  • Switching state can be received and the signals with a modulation with falling frequency can be received by the antenna array with a second switching state.
  • the antenna array of the transmitting antenna 12 can be operated in the same switching state.
  • different switching states for the transmitting antenna 12 for different modulations of the transmission signal are possible.
  • a different switching state of the transmitting antenna 12 can be used for each modulation of the transmission signal.
  • Switching state of the transmitting antenna 12 are emitted and the signals with decreasing frequency in a second switching state of the transmitting antenna 12.
  • the receiving antenna 1 1 can be operated for both modulations in the same switching state.
  • a different switching state of the receiving antenna 1 1 is also possible for both modulations.
  • each modulation of the emitted signals corresponds to an individual configuration of the switching states of the transmitting and / or receiving antenna.
  • the number of modulations for the transmission signal and the number of switching states for Distinguish transmitting and / or receiving antenna In this case, however, an increased effort for the evaluation is to be expected.
  • the signal processing takes place separately for each switching state of the antenna arrays. For the estimation of distance and relative velocity, a calibration is performed and the peaks from this calibration can be assigned to each other. After the
  • the phase offset resulting from the time delay between the modulations of distance and relative speed can be determined.
  • the information from both modulations can then be used for the angle estimation.
  • a plurality of frequency ramps (up-chirps and down-chirps) are interleaved, each for each one
  • Frequency ramps selected an individual configuration of the antenna switching state.
  • FMCW-modulated Frequency Modulated
  • FIG. 4 shows a schematic representation of a method for operating a radar device with a switched antenna array.
  • a first step 1 10 a first switching state of the antenna array is set.
  • a first radar signal is transmitted with a first modulation and in step 130 a radar echo is received via the antenna array.
  • step 140 a second switching state of the antenna array is set. Then, in step 150, a second radar signal having a second modulation is sent out, and in step 160, the second radar echo is received by means of the antenna array.
  • the present invention relates to a modulation concept for a radar with switched antennas.
  • Antenna arrays with the switched antennas closely meshed with the modulation of the radar signals. In this way, it is possible to use switched antennas in the time-multiplex method and thus to allow short times between the switching states. This also allows a phase evaluation across the switching states.

Landscapes

  • 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)
  • Signal Processing (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Radio Transmission System (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

La présente invention concerne un concept de modulation pour un radar à antennes connectées. Selon l'invention, les différents états de connexion du réseau d'antennes composé des antennes connectées sont étroitement liés à la modulation des signaux radar. De cette manière, il est possible de mettre en oeuvre des antennes connectées dans un procédé de multiplexage par répartition dans le temps et d'obtenir ainsi des laps de temps courts entre les états de connexion. Ainsi, une évaluation de phase est également possible pendant les états de connexion.
EP14706002.4A 2013-04-03 2014-02-14 Système radar et procédé avec réseau d'antennes présentant deux états de connexion à modulation différente Ceased EP2981842A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013205892.6A DE102013205892A1 (de) 2013-04-03 2013-04-03 Radarvorrichtung und Verfahren zum Betrieb einer Radarvorrichtung
PCT/EP2014/052907 WO2014161687A1 (fr) 2013-04-03 2014-02-14 Système radar et procédé avec réseau d'antennes présentant deux états de connexion à modulation différente

Publications (1)

Publication Number Publication Date
EP2981842A1 true EP2981842A1 (fr) 2016-02-10

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP14706002.4A Ceased EP2981842A1 (fr) 2013-04-03 2014-02-14 Système radar et procédé avec réseau d'antennes présentant deux états de connexion à modulation différente

Country Status (6)

Country Link
US (1) US10033098B2 (fr)
EP (1) EP2981842A1 (fr)
JP (1) JP6348572B2 (fr)
CN (1) CN105074497B (fr)
DE (1) DE102013205892A1 (fr)
WO (1) WO2014161687A1 (fr)

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CN105074497A (zh) 2015-11-18
US10033098B2 (en) 2018-07-24
JP2016521357A (ja) 2016-07-21
US20160036124A1 (en) 2016-02-04
CN105074497B (zh) 2019-06-25
WO2014161687A1 (fr) 2014-10-09
JP6348572B2 (ja) 2018-06-27
DE102013205892A1 (de) 2014-10-09

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