EP3227719A1 - Radarsensor, radarsensor-system sowie verfahren zur bestimmung der position eines objekts mit horizontaler und vertikaler digitaler strahlformung zur vermessung von punkt- und flächenförmig reflektierenden objekten - Google Patents

Radarsensor, radarsensor-system sowie verfahren zur bestimmung der position eines objekts mit horizontaler und vertikaler digitaler strahlformung zur vermessung von punkt- und flächenförmig reflektierenden objekten

Info

Publication number
EP3227719A1
EP3227719A1 EP15820448.7A EP15820448A EP3227719A1 EP 3227719 A1 EP3227719 A1 EP 3227719A1 EP 15820448 A EP15820448 A EP 15820448A EP 3227719 A1 EP3227719 A1 EP 3227719A1
Authority
EP
European Patent Office
Prior art keywords
radar sensor
antenna
horizontal
vertical
scan
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.)
Pending
Application number
EP15820448.7A
Other languages
German (de)
English (en)
French (fr)
Inventor
Richard Körber
Markus HOMMEN
Frank Bauer
Benedikt Schulte
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.)
Astyx GmbH
Original Assignee
Astyx 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 Astyx GmbH filed Critical Astyx GmbH
Publication of EP3227719A1 publication Critical patent/EP3227719A1/de
Pending 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
    • 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
    • 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
    • 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
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E05F2015/432—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with acoustical sensors
    • E05F2015/433—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with acoustical sensors using reflection from the obstruction
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

  • Radar sensor radar sensor system and method for determining the position of an object with horizontal and vertical digital Strahlformunq for measuring point and surface reflective objects
  • the invention relates to a radar sensor, radar sensor system, and methods for determining the position of an object.
  • Millimeter-wave radar sensors e.g. for automotive and aeronautical applications should have a compact and cost-effective design.
  • planar and punctiform reflectors differs essentially in that planar surfaces have significant reflection only when the incidence of the radar beam is perpendicular, whereas with punctiform reflectors this is the case even at other angles. This circumstance can lead to the fact that extensive planar surfaces are not recognized in their contour and that a collision can occur in particular with the automatically opening door.
  • the object of the invention is to provide a device, a method and a radar system, whereby the disadvantages described above are avoided. It is another object of the invention to provide a radar sensor or a radar sensor system or a device and a method available with which a vertical position of an object can be determined and with the help of a classification between point and area-shaped objects are performed can.
  • the object is achieved according to the device with the features of claim 1 or 13, according to the method with the features of claim 18 or 19.
  • A. Device for determining the position of an object in three-dimensional space comprising at least two radar transceivers, each device comprising at least 4 receivers and one or two transmitters, with an antenna array for horizontal beam tilting in the vertical one has a fan-shaped beam, and an antenna array for a vertical beam swing, whose individual beam elements in the vertical as well as in the horizontal one wide
  • a radar system for using a device for determining a position of an object in the three-dimensional space in the sense of B, consisting of at least 4 transmitters and 8 receivers, which are synchronized with each other and thus allow a two-dimensional beam swing of a single antenna beam and further
  • a remedy is provided by the use of a second radar sensor, which is arranged offset from the first in the direction of travel.
  • the sensors are networked with each other and the collected information is evaluated according to the master-slave principle of one of the two sensors. Further embodiments of the present invention are the subject of the dependent claims.
  • Figure 1 shows the sensor arrangement on the vehicle with horizontal field of view for monitoring the opening range of the doors.
  • the sensors are each tilted by about 30 degrees and have a field of view of about 1 10 degrees. At least 2 sensors must be installed per side of the vehicle to optimally cover the opening area of the doors.
  • Figure 2 shows the vertical field of view of the sensors and the range of potential obstacles.
  • the arrangement of the sensors was chosen so that, on the one hand, the opening area of the doors is maximally covered, on the other hand, to distinguish point-shaped reflectors from sheet-like. For this purpose, an overlap of the fields of view of the sensors is required.
  • the door may open up to the object, whereas in the case of area-like obstacles, such as walls or neighboring vehicles, the door may only open up to the potentially extended area.
  • the point-shaped object is detected by both sensors in distance and angle. In the planar planar object, however, only reflections occur at a normal angle of incidence. Both sensors are unable to detect one and the same reflection point.
  • the radar sensors detect the radial distance and the angle to the location of reflection. If one then forms the Ortogonalen to the beam directions of the individual sensors, they run in a surface target in approximately parallel, at a point goal they intersect.
  • the door may be opened at the point target up to its position, at a surface target only until the extended Ortogonale. Thus, the door is prevented from touching the wall when it is opened, although the reflection point is farther away than the collision point.
  • FIG. 5 shows the millimeter-wave module of a single radar sensor with antenna arrangement.
  • the sensor consists of a transceiver (1) for the vertical scan and a transceiver (2) for the horizontal scan.
  • Each transmitting / receiving device consists of at least 4 receivers (3a, 3b) and one or two transmitters (4a, 4b). Since the required detection rate for the door monitoring is low in comparison to the measuring rate of the sensor, the sensor system can perform the vertical detection and the horizontal detection in chronological succession. This reduces costs since only one signal processing unit is needed. Furthermore, it is avoided that the transmitting / receiving units interfere with each other.
  • Figure 6 shows the functional block diagram of the radar sensor. It consists of two highly integrated radar frontends, each with two transmitters and four receivers. Analogue-to-digital converters are already integrated in the receivers so that they can be connected directly to the signal processing unit, a multicore digital signal processor. The signal processor additionally performs the task of controlling the transceiver modules and operates the communication interface with the outside world, e.g. with the control electronics of the automatic door.
  • the two transmitters are alternately modulated in a linearly sawtooth fashion. This cycle is repeated n times.
  • the distance to the object is determined by means of a fast Fourier transformation (FFT).
  • FFT fast Fourier transformation
  • these data sets are arranged into a spectrogram and a second FFT is calculated over the columns of the spectrogram matrix.
  • the row position of this so-called range Doppler matrix corresponds to the speed of the object, the column position corresponds to the radial distance.
  • the modulation frequency fm is greater than the maximum occurring Doppler frequency, so that an independent and unambiguous distance and speed measurement can be performed.
  • an antenna line was chosen which has the vertical diagram shown in Figure 8.
  • the arrangement and dimensioning of the individual radiator elements of the antenna line was not optimized as usual for maximum beam bundling, but designed so that an upwardly directed fan beam is formed.
  • This fan beam ensures that reflections from objects below the doorstep are suppressed and the sensor can still detect objects at high vertical angles.
  • the gain of such an antenna line corresponds approximately only to that of a single radiator. However, the distances to the objects are so small that sufficient sensitivity of the radar sensor still exists.
  • the horizontal diagram of this antenna line is shown in Figure 9. It has a very large 3dB beam width to illuminate the required wide viewing area of 1 10 °. After digital beamforming, the array diagram shown in Figure 10 results, which can be tilted up to + -50 °. without so-called grating praise arise, which could lead to apparent targets.
  • microstrip patch emitter used.
  • This spotlight has a large opening angle in both the vertical and the horizontal (see Figure 1 1).
  • the digital beam sweep is limited to the Winkelbreich of -70 ° to 0 °. Although at -70 ° apparent targets appear in the opposite direction. However, these would be physically below the road surface and thus can be eliminated by a simple plausibility check. Up to a tilt angle of -60 °, the detection is free of grating praise and thus of decoys.
  • the door opening area is monitored in two dimensions, so that protruding obstacles, such as loading ramps, railings or exterior mirrors of adjacent vehicles, are also recognized as obstacles.
  • FIG. 12 shows the millimeter wave module with two transmit / receive modules providing 4 transmitters and 8 receivers.
  • the transmitting antennas are arranged in a row orthogonal to the row of receiving antennas.
  • the transmit antennas should have the same direction of polarization as the receiving antenna in order to ensure the maximum system sensitivity.
  • the radiator elements were tilted by 45 ° both at the transmitter and at the receiver.
  • the illustrated virtual receive array can thus be generated so that an array of 4 ⁇ 8 individual emitters is available for signal processing.
  • Each of these individual emitters can be regulated both in phase and in amplitude as part of the signal evaluation, so that a beam swing in both the vertical and in the horizontal direction is possible.
  • Figure 13 shows the controllable diagram of the array with a 3dB beam width of 16 degrees in the horizontal and 29 degrees in the vertical.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Details Of Aerials (AREA)
  • Support Of Aerials (AREA)
EP15820448.7A 2014-12-05 2015-12-07 Radarsensor, radarsensor-system sowie verfahren zur bestimmung der position eines objekts mit horizontaler und vertikaler digitaler strahlformung zur vermessung von punkt- und flächenförmig reflektierenden objekten Pending EP3227719A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014118031.3A DE102014118031A1 (de) 2014-12-05 2014-12-05 Radarsensor, Radarsensor-System sowie Verfahren zur Bestimmung der Position eines Objekts mit horizontaler und vertikaler digitaler Strahlformung zur Vermessung von punkt- und flächenförmig reflektierenden Objekten
PCT/EP2015/078879 WO2016087679A1 (de) 2014-12-05 2015-12-07 Radarsensor, radarsensor-system sowie verfahren zur bestimmung der position eines objekts mit horizontaler und vertikaler digitaler strahlformung zur vermessung von punkt- und flächenförmig reflektierenden objekten

Publications (1)

Publication Number Publication Date
EP3227719A1 true EP3227719A1 (de) 2017-10-11

Family

ID=55070986

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15820448.7A Pending EP3227719A1 (de) 2014-12-05 2015-12-07 Radarsensor, radarsensor-system sowie verfahren zur bestimmung der position eines objekts mit horizontaler und vertikaler digitaler strahlformung zur vermessung von punkt- und flächenförmig reflektierenden objekten

Country Status (7)

Country Link
US (1) US10877146B2 (ja)
EP (1) EP3227719A1 (ja)
JP (1) JP6734847B2 (ja)
KR (1) KR102550833B1 (ja)
CN (1) CN107407720B (ja)
DE (1) DE102014118031A1 (ja)
WO (1) WO2016087679A1 (ja)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10505643B2 (en) * 2015-03-26 2019-12-10 Lg Electronics Inc. Method and device for estimating doppler frequency by using beam scanning process in wireless communication system
US10446938B1 (en) 2015-12-23 2019-10-15 Apple Inc. Radar system including dual receive array
US11199618B2 (en) 2016-06-17 2021-12-14 Apple Inc. Radar antenna array
DE102016213007A1 (de) 2016-07-15 2018-01-18 Robert Bosch Gmbh Verfahren und System zur Abtastung eines Objekts
KR102578824B1 (ko) * 2016-11-30 2023-09-15 삼성전자주식회사 3차원 정보를 제공하는 차량용 레이더 장치
DE102017200273A1 (de) 2017-01-10 2018-07-12 Audi Ag Radaranordnung für ein Kraftfahrzeug und Kraftfahrzeug
CN106950949B (zh) * 2017-02-20 2021-04-13 江苏大学 一种车辆沿边导航的七光电开关弧形阵列与方法
DE102017223471A1 (de) * 2017-12-20 2019-06-27 Robert Bosch Gmbh Vorrichtung zum Aussenden und Empfangen elektromagnetischer Strahlung
KR102474591B1 (ko) 2018-01-24 2022-12-05 삼성전자주식회사 광 조향 장치 및 이를 포함하는 센서 시스템
DE102018202299A1 (de) * 2018-02-15 2019-08-22 Robert Bosch Gmbh Antennenanordnung für einen Radarsensor
CN110537106B (zh) * 2018-03-27 2023-03-28 智能雷达系统有限公司 雷达装置
TWI684021B (zh) * 2018-04-10 2020-02-01 為升電裝工業股份有限公司 校車雷達系統
DE102018206535A1 (de) * 2018-04-27 2019-10-31 Robert Bosch Gmbh Radarsensoreinrichtung
DE102018206533A1 (de) * 2018-04-27 2019-10-31 Robert Bosch Gmbh Verfahren zum Betreiben einer Radarsensoreinrichtung und Radarsensoreinrichtung
DE102018207686A1 (de) 2018-05-17 2019-11-21 Robert Bosch Gmbh MIMO-Radarsensor für Kraftfahrzeuge
US11374635B2 (en) 2018-06-22 2022-06-28 Samsung Electronics Co., Ltd. Method and apparatus for sensor assisted beam selection, beam tracking, and antenna module selection
CN109267891A (zh) * 2018-10-30 2019-01-25 昆山赛诺泰克工业科技有限公司 基于毫米波的电动尾门控制系统及控制方法
US11307301B2 (en) * 2019-02-01 2022-04-19 Richwave Technology Corp. Location detection system
CN112068137A (zh) * 2019-05-24 2020-12-11 苏州豪米波技术有限公司 一种低成本的前向防撞雷达系统
DE102019214544B4 (de) * 2019-09-24 2022-04-28 Vitesco Technologies GmbH Verfahren und Vorrichtung zum Bestimmen einer Soll-Position eines Umgebungssensors eines Fahrzeugs
CN112698298B (zh) * 2019-10-22 2024-08-30 广州极飞科技股份有限公司 一种雷达天线、雷达、无人机和设备
CN112698297A (zh) * 2019-10-22 2021-04-23 广州极飞科技有限公司 一种雷达天线、雷达、无人机和设备
CN112698296B (zh) * 2019-10-22 2024-08-30 广州极飞科技股份有限公司 一种雷达天线、雷达、无人机和设备
CN112698299B (zh) * 2019-10-22 2024-08-30 广州极飞科技股份有限公司 一种雷达天线、雷达、无人机和设备
US11361774B2 (en) 2020-01-17 2022-06-14 Lisnr Multi-signal detection and combination of audio-based data transmissions
US20210226710A1 (en) * 2020-01-17 2021-07-22 Lisnr Audio transmitter/receiver array
US11418876B2 (en) 2020-01-17 2022-08-16 Lisnr Directional detection and acknowledgment of audio-based data transmissions
US11847833B2 (en) 2020-02-12 2023-12-19 Strattec Security Corporation Broad coverage non-contact obstacle detection
DE102020201999A1 (de) 2020-02-18 2021-08-19 Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg Verfahren zum Erkennen und Klassifizieren von Objekten und Fahrzeug-Türsystem
JP7347314B2 (ja) * 2020-04-13 2023-09-20 トヨタ自動車株式会社 センサ及びセンサシステム
EP3968045A1 (en) 2020-09-14 2022-03-16 Rohde & Schwarz GmbH & Co. KG Imaging system and method for material characterization of a sample
EP4016127A1 (en) * 2020-12-16 2022-06-22 Provizio Limited Multiple input multiple steered output (mimso) radar
CN112835026B (zh) * 2020-12-31 2024-02-20 福瑞泰克智能系统有限公司 雷达镜像目标检测方法、装置、雷达设备和车辆
US20220236370A1 (en) * 2021-01-27 2022-07-28 Aptiv Technologies Limited Radar System with Paired One-Dimensional and Two-Dimensional Antenna Arrays
CN113296092B (zh) * 2021-05-24 2023-01-20 北京环境特性研究所 基于多源信息融合的雷达探测方法、装置及存储介质
FR3128030A1 (fr) 2021-10-12 2023-04-14 Psa Automobiles Sa Dispositif de détection d’obstacles et procédé de calibration automatique d’un tel dispositif.
CN114265016B (zh) * 2021-12-28 2023-04-14 河北德冠隆电子科技有限公司 一种多角度调节广域雷达传感器系统及方法

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3433417B2 (ja) 1998-04-02 2003-08-04 トヨタ自動車株式会社 レーダ装置
DE19853344A1 (de) 1998-11-19 2000-05-25 Volkswagen Ag Automatisches Türöffnungssystem
US7068211B2 (en) * 2000-02-08 2006-06-27 Cambridge Consultants Limited Methods and apparatus for obtaining positional information
JP2001324564A (ja) * 2000-05-17 2001-11-22 Yazaki Corp 自動車用防犯装置
DE102004059915A1 (de) 2004-12-13 2006-06-14 Robert Bosch Gmbh Radarsystem
GB0701869D0 (en) * 2007-01-31 2007-03-14 Cambridge Consultants Adaptive radar
DE102009024918B4 (de) 2008-06-17 2022-04-28 Denso Corporation Zielobjekterkennungsvorrichtung zur Erlangung von Informationen betreffend Zielobjekte basierend auf einer Korrelationsmatrix, die aus Signalwerten erhalten wird, welche reflektierten elektromagnetischen Wellen entsprechen
DE102008038365A1 (de) * 2008-07-02 2010-01-07 Adc Automotive Distance Control Systems Gmbh Fahrzeug-Radarsystem und Verfahren zur Bestimmung einer Position zumindest eines Objekts relativ zu einem Fahrzeug
DE102008052246A1 (de) 2008-10-18 2010-04-22 Adc Automotive Distance Control Systems Gmbh Sensorsystem mit verstellbarer Elevationsstrahlrichtung zur Bestimmung der vertikalen Lage von stationären Objekten
JP2010158917A (ja) 2009-01-06 2010-07-22 Alps Electric Co Ltd 障害物検知システム及び車両装置
DE102010012626A1 (de) * 2010-03-24 2011-09-29 Valeo Schalter Und Sensoren Gmbh Kraftfahrzeug mit einer Radareinrichtung und Verfahren zum Betreiben einer Radareinrichtung
JP2011226794A (ja) * 2010-04-15 2011-11-10 Mitsubishi Electric Corp レーダ装置
DE102011079003A1 (de) * 2011-07-12 2013-01-17 Robert Bosch Gmbh Verfahren zur Erkennung und Signalisierung von Hindernissen
DE102011113018A1 (de) * 2011-09-09 2013-03-14 Astyx Gmbh Abbildender Radarsensor mit schmaler Antennenkeule und weitem Winkel-Detektionsbereich
DE102011113015A1 (de) 2011-09-09 2013-03-14 Astyx Gmbh Abbildender Radarsensor mit synthetischer Vergrößerung der Antennenaperatur und zweidimensionaler Strahlschwenkung
DE102011083756A1 (de) * 2011-09-29 2013-04-04 Siemens Ag Radar-Vorrichtung und Verfahren zum Erzeugen einer Gruppencharakteristik eines Radars
KR101643194B1 (ko) * 2012-04-12 2016-07-27 한화탈레스 주식회사 Ｍｉｍｏ 신호처리 기법을 이용한 다중빔 방식의 후측방 레이더
JP5611294B2 (ja) 2012-09-05 2014-10-22 富士通株式会社 探知測距装置
US20140070994A1 (en) * 2012-09-13 2014-03-13 Toyota Motor Engineering & Manufacturing North America, Inc. 3d short range detection with phased array radar
CN105378051B (zh) * 2013-02-26 2017-05-17 Ddnt咨询澳大利亚有限公司 用于培养细胞的结构件
DE102013102424A1 (de) * 2013-03-11 2014-09-11 Stefan Trummer Polarimetrisches Radar zur Objektklassifikation sowie geeignetes Verfahren und Verwendung hierfür

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
None *
See also references of WO2016087679A1 *

Also Published As

Publication number Publication date
KR102550833B1 (ko) 2023-07-03
CN107407720B (zh) 2021-11-09
US10877146B2 (en) 2020-12-29
JP2018503071A (ja) 2018-02-01
DE102014118031A1 (de) 2016-06-09
JP6734847B2 (ja) 2020-08-05
US20170329002A1 (en) 2017-11-16
CN107407720A (zh) 2017-11-28
WO2016087679A1 (de) 2016-06-09
KR20170090427A (ko) 2017-08-07

Similar Documents

Publication Publication Date Title
EP3227719A1 (de) Radarsensor, radarsensor-system sowie verfahren zur bestimmung der position eines objekts mit horizontaler und vertikaler digitaler strahlformung zur vermessung von punkt- und flächenförmig reflektierenden objekten
EP3204788B1 (de) Abbildender radarsensor mit horizontaler digitaler strahlformung und vertikaler objektvermessung durch phasenvergleich bei zueinander versetzten sendern
EP2756329B1 (de) Abbildender radarsensor mit schmaler antennenkeule und weitem winkel-detektionsbereich
EP2753950B1 (de) Abbildender radarsensor mit synthetischer vergrösserung der antennenapertur und zweidimensionaler strahlschwenkung
EP2659284B1 (de) Radarsensor für kraftfahrzeuge
EP3673292B1 (de) Abbildendes radarsystem mit einem empfangsarray zur winkelbestimmung von objekten in zwei dimensionen durch eine gespreizte anordnung der empfangsantennen einer dimension
EP3452847B1 (de) Kraftfahrzeug mit wenigstens zwei radarsensoren
DE102011083756A1 (de) Radar-Vorrichtung und Verfahren zum Erzeugen einer Gruppencharakteristik eines Radars
EP2804013B1 (de) Vorrichtung zum Messen der Position eines Fahrzeugs oder einer Oberfläche desselben
DE102013102424A1 (de) Polarimetrisches Radar zur Objektklassifikation sowie geeignetes Verfahren und Verwendung hierfür
EP2294450A2 (de) Radarsystem mit überlappenden sende- und empfangsantennen
DE10258367A1 (de) Mehrzielfähiges Verfahren und mehrzielfähige Sensorvorrichtung für die Abstands- und Winkelortung von Zielobjekten im Nahbereich
DE102005042729A1 (de) Kraftfahrzeug-Radarsystem mit horizontaler und vertikaler Auflösung
EP2330685B1 (de) Antenneneinrichtung für eine Radarsensorvorrichtung
DE102013216951A1 (de) Radarsensor für Kraftfahrzeuge
EP3568713A1 (de) Radarsensor mit zweidimensionaler strahlschwenkung und l-, u- oder t-förmiger struktur für den verbau im bereich des front-kühlers beim automobil
DE102005007917A1 (de) Kraftfahrzeug-Radarsystem und Auswerteverfahren
DE102021100695A1 (de) Verfahren zum Betrieb eines Topologie-erfassenden Radarsystems innerhalb eines Behälters
DE102016222474A1 (de) Radarsensoranordnung an einem Kraftfahrzeug
WO2019158251A1 (de) Antennenanordnung für einen radarsensor
DE102020125323A1 (de) Radarsystem zu Überwachung eines Überwachungsbereichs, Antennenanordnung für ein Radarsystem, Fahrzeug mit einem Radarsystem und Verfahren zum Betreiben eines Radarsystems
EP4189776A2 (de) Radarsystem, antennenarray für ein radarsystem, fahrzeug und verfahren zum betreiben eines radarsystems
DE102020119936A1 (de) Radarsystem, Antennenarray für ein Radarsystem, Fahrzeug mit wenigstens einem Radarsystem und Verfahren zum Betreiben wenigstens eines Radarsystems
DE102020201025A1 (de) Antennenanordnung für einen Radarsensor

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20170601

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20190104

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230525