EP3649479A1 - System for detecting a moving object - Google Patents
System for detecting a moving objectInfo
- Publication number
- EP3649479A1 EP3649479A1 EP18723830.8A EP18723830A EP3649479A1 EP 3649479 A1 EP3649479 A1 EP 3649479A1 EP 18723830 A EP18723830 A EP 18723830A EP 3649479 A1 EP3649479 A1 EP 3649479A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- radar device
- radar
- determined
- analysis
- microdoppler
- 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
Links
Classifications
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- 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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- 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
-
- 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
-
- 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
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Definitions
- the invention relates to a system for detecting a moving object.
- the invention further relates to a method for detecting a moving object.
- the invention further relates to a computer program product.
- a radar system is set up to emit a radar signal and to compare the radar signal reflected at an object with the radar signal emitted.
- Numerous different types of games are known, by means of which different information about the object can be collected.
- One known variant is the FMCW (Frequency Modulated Continuous Wave) radar, in which the transmitted radar signal is modulated with a sawtooth function.
- a distance of the object from the radar system can then be determined with good accuracy.
- An object angle indicating in which direction from the radar sensor the object can be found can be obtained by using a plurality of antennas or controlling an antenna so that the signals are radiated in predetermined directions.
- Doppler shift of the reflected versus radiated radar signal may indicate a relative speed of the object to the radar system.
- Pedestrians whose arms and legs swing back and forth show characteristic, often periodic, fluctuations in the measurable Doppler frequencies. These variations can be analyzed to further classify the object.
- DE 10 2015 109 759 A1 proposes to control a radar system on board a motor vehicle in such a way that a microdoppler analysis can be carried out.
- a complex modulation for example with chirp sequences
- a processing can be very expensive here.
- a two-dimensional Fourier analysis of the difference signal between the transmitted and received signals may be required, so that an efficient processing device is essential.
- An object underlying the present invention is to provide a simple radar-based technique for detecting a moving object.
- the invention provides a system for detecting a moving object, comprising:
- a radar device for receiving at least one signal reflected from the object at at least one angle
- a processing device for determining at least one relative speed and at least one angle for each determined
- microdoppler analysis is performed on the basis of the received signals for certain angles
- Object can be determined.
- a microdoppler analysis is performed on the basis of which a type of the object is classified.
- Pedestrians have different body parts that move at different speeds with respect to the radar devices, thereby generating such Speed distribution over time may be characteristic of a pedestrian.
- Pedestrians have different body parts that move at different speeds with respect to the radar devices, thereby generating such Speed distribution over time may be characteristic of a pedestrian.
- the invention provides a method for detecting a moving object, comprising the steps:
- microdoppler analysis on the received signals by the processing means, the microdoppler analysis being based on angles determined for the received signals
- reception angles for different relative speeds can be determined.
- the microdoppler analysis can be performed even finer.
- the determination of the angles can be carried out by correlating the received signals. As a result, a reliable determination of the received signals received from different angles is carried out.
- a preferred embodiment of the system provides that the determined angles are used for a simultaneous microdoppler analysis of several objects with overlapping distributions at relative speeds. This makes it possible for different objects to be distinguished from one another depending on the spatial direction. Thereby, e.g. Advantageously, several pedestrians are distinguished from each other.
- a further preferred embodiment of the system is characterized in that by means of the processing device a width of a frequency spread and a time course of the frequency spread of the received signals can be determined. It is advantageous in this way a
- a further preferred embodiment of the system provides that a periodicity of a spread of Doppler frequencies is determined by means of the processing device. In this way, for example, a periodic movement of extremities of a pedestrian can be detected.
- a further preferred embodiment of the system is characterized in that a restriction of the angle estimation to a defined small frequency / speed range is performed.
- a detection performance of the system can be concentrated on areas of interest.
- a further preferred embodiment of the system is characterized in that the radar device is designed as a continuous wave radar device. With this type of radar device, discrimination of received signals can be realized very well.
- a further preferred embodiment of the system is characterized in that it also has a further radar device, which is preferably designed as an FMCW radar device. This allows the FMCW radar device to be good for determining a distance and a first
- Relative velocity and the continuous wave radar are well used for high speed resolution of the object.
- a further preferred embodiment of the system is characterized in that the radar devices each have at least one transmitting antenna and in each case at least two receiving antennas, wherein by means of the receiving antennas receiving signals from different receiving directions can be received. In this way, a reliable determination of the angle at which the signals are received, perform.
- Disclosed device features result analogously from corresponding disclosed method features and vice versa. This means in particular that features, technical advantages and embodiments relating to the system for locating an object in the vicinity of a motor vehicle result analogously from corresponding embodiments, features and advantages relating to the method for locating an object in the environment of a motor vehicle and vice versa.
- Fig. 1 shows an embodiment of a proposed system
- Fig. 2 shows another embodiment of a proposed system
- FIG. 4 is an exemplary diagram for explaining the operation of an advantageous embodiment of the proposed system.
- Fig. 5 is a section through the diagram of Fig. 4;
- Fig. 6 is a detail of the diagram of Fig. 4.
- Fig. 7 shows the detail of Fig. 6 with a time-frequency screening for
- the invention is based on the idea of analyzing a spectrum of relative velocities for one or more objects by means of a radar device by means of a microdoppler analysis. In this way, an accurate analysis or classification of individual and / or multiple objects can be realized even in complex scenarios with similar distances and speeds, but different directions.
- the system may allow a combination of the advantages of different radar devices to provide accurate information about the nature of the radar To analyze movement of the object as well as accurate information about the location and the change of the location of the object.
- the analysis of accurate speed information of the object can succeed even if the motor vehicle with the radar devices moves with respect to the surroundings.
- the classification of the object can be significantly improved in this way.
- a classification of an object as a pedestrian / cyclist can be performed improved, so that, for example, a driver assistance system, and / or an active and / or a passive accident protection device
- a signal can be output to warn a driver or the pedestrian.
- an automatic braking of the motor vehicle can be initiated by means of the system.
- a processing device for performing a microdoppler analysis of the signals received by the radar device.
- the microdoppler analysis it can be determined whether a movement pattern of an object with a known movement pattern of a pedestrian
- a trained as continuous wave radar device radar device can in
- Continuous operation for example over a period of about 15 to about 25 ms, in other variants about 10 to about 15 ms or about 25 to about 30 ms, operated.
- An accuracy of the speed determination by means of evaluation of the Doppler frequency can thereby be significantly increased.
- the system can be well adapted to the requirements of detecting pedestrians, for example, with a transmission duration of the continuous wave signal of about 20 ms, a speed resolution of the object of about 0.1 m / s is feasible, which is sufficient to a typical
- Speed of a pedestrian is about 1 m / s for the hull and up to 4m / s for a forward swinging leg, resulting in about 10 to 40 frequency bins. In contrast, a significant reduction in relative speed occurs for cross-border pedestrians.
- a spread of the Doppler spectrum for moving objects is evaluated, whereby stationary objects and moving rigid bodies, which do not generate a spread in the Doppler spectrum, are ignored.
- a difference signal between the emitted and the continuous wave radar signal reflected at the object can be analyzed with respect to its frequency distribution.
- the analysis is preferably carried out by means of Fourier transformation. In this case, the signal energies can be calculated in predetermined frequency ranges.
- the frequency distribution can also be analyzed in its time course, so that, for example, a movement pattern of a walking or running pedestrian can be distinguished from each other.
- a further radar device may be provided, which after any
- Measuring principle can be formed, preferably according to the FMCW principle, which usually uses frequency ramps of a continuous radar signal.
- FMCW principle which usually uses frequency ramps of a continuous radar signal.
- Other embodiments are also possible, for example, a radar device can be used in which the individual solid angles are sequentially scanned mechanically or electronically for determining the object angle.
- Signals of individual FMCW ramps of the further radar device are preferably processed separately from one another.
- the FMCW ramps are preferably analyzed by means of a known, one-dimensional Fourier transformation. This can be significantly less computationally expensive than the two-dimensional Fourier analysis of chirp sequences.
- the detected frequency peaks can be combined with each other via different ramps after Fourier analysis.
- the two radar devices can be operated alternately, whereby Scans in the same frequency range can be performed easily.
- the two radar devices can also be integrated into a single radar device, wherein the integrated radar device is operated successively with different signals. For example, at one time, it may be operated with either an FMCW or continuous wave signal. In particular, the operating modes can be activated alternately. By saving a radar device costs can be saved.
- a known radar device can be expanded with a manageable effort to the described system.
- the cutoff frequency is determined based on the speed of the radar devices relative to the environment.
- signal components are considered which are assigned to objects which arrive at the radar device more quickly than the radar device moves with respect to the surroundings, ie objects which move themselves relative to the surroundings.
- the Doppler frequency of these objects is correspondingly smaller (or larger in magnitude) than the Doppler frequency corresponding to the negative intrinsic velocity.
- FIG. 1 A basic variant of the proposed system is shown in FIG. 1.
- a radar device 10 which is functionally connected to a processing device 20, is discernible. By means of the radar device 10 are transmitting signals
- an object 200 e.g., a pedestrian
- receive signals at different, very similar angles.
- a microdoppler analysis is performed on the received signals, and from this a type of the object 200 is classified.
- the proposed system can be used in a motor vehicle as a radar-based pedestrian protection.
- radar-based applications in stationary surveillance systems for example in the military sector, are also conceivable.
- Fig. 2 shows a useful exemplary application of the above-mentioned advantageous development of the proposed system 100 for a
- Motor vehicle 50 which comprises a radar device 10, a further radar device 30 and a processing device 20.
- Each of the radar devices 10, 30 has at least one transmitting antenna and in each case at least two, preferably four receiving antennas (not illustrated), so that with the at least two receiving antennas receiving signals from spatially
- the two radar devices 10, 30 can also be integrated as a radar device, in which case alternating operation as the first radar device 10 and further radar device is preferred.
- a moving object 200 In the vicinity 210 of the motor vehicle 50 is a moving object 200, which is represented in the case of Fig. 1 by a pedestrian.
- the system 100 By means of the system 100 it is provided to scan the object 200 with radar signals and to determine location, movement and classification information of the object 200.
- the particular information may be provided by means of an interface 40 for reuse, which may be embodied as a warning and / or control device (not shown) on board the motor vehicle 50.
- the moving object 200 may move relative to the environment 210.
- the object 200 can move in itself or perform micro-movements.
- parts of the moving object 200 in the case of a pedestrian: arms and legs
- the radar devices 10, 30 not only a Doppler frequency, but a whole range of Doppler frequencies are measured.
- a moving object 200 designed as a pedestrian can move relative to the surroundings 210 at a speed of approximately 5 km / h. Due to the periodic movement of the legs (and usually also arms) of the pedestrian thereby also fluctuates its Doppler frequency spread in a periodic manner. When both feet are on the ground, the maximum speed is given by the torso. Along the legs this speed reduces to zero at the feet. Therefore, potentially any Doppler frequencies are measurable that correspond to speeds between zero and the speed of the torso. This is also the time of the lowest Doppler frequency spread. When swinging forward, however, a foot reaches up to about 3 to 4 times the torso speed.
- Frequenzbin a correlation of received signals of all receiving antennas is performed. In this way, a so-called “multi-goal estimator” can be realized, wherein several objects arranged at different angles are determined in a single frequency bin.
- micro-movements of the object 200 are determined and analyzed by means of the radar device 10, preferably by means of a microdoppler analysis.
- Radar device 10 preferably uses a continuous wave signal ("CW ramp"), ie does not modulate the emitted radar signal over time
- CW ramp a continuous wave signal
- the determination by means of the continuous wave signal can be carried out in a defined manner longer than a standard ramp of the FMCW method and lasts, for example, approximately 20 ms to achieve sufficient velocity resolution for the object 200.
- For each frequency bin may or may not be dependent on it
- a correlation of the received signals are performed. In this way, either a detection of a power increase can be made or a correlation between the individual received signal of the various receiving antennas, in the latter case, a computational effort is higher.
- FIG. 3 shows a flowchart 300 of a method for determining information about a moving object 200 which also uses a further radar device 30, the information in particular comprising a location or a movement of the object 200 and a distribution of frequencies of micromovements.
- a step 305 the object 200 is scanned by means of the further radar device 30, preferably on the basis of an FMCW signal.
- Other radar methods are alternatively possible.
- the emitted and the reflected signal are qualitatively indicated above the step 305 in a time diagram. This determination is known in radar technology and can be performed in any known manner.
- a first distance d (t) to the further radar device 30 and a first relative velocity v1 (t) between object 200 and further are preferred
- a step 310 which may be performed alternately with step 305, the object 200 is scanned by the radar device 10 on the basis of a constant frequency (continuous wave) radar signal.
- the diagram above step 310 outlines the transmitted and reflected signals.
- a second relative velocity v 2 (t) between the object 200 and the radar device 10 is preferably determined.
- the second relative speed is preferably very high This allows an efficient performance of a microdoppler analysis.
- step 315 the information determined in steps 305 and 310 is associated with each other.
- Step 315 preferably provides as a combination of the first and second information a distance d (t), a velocity v (t), and a curvature cp (t).
- step 320 the frequency distribution of the second relative velocities may be analyzed to determine if the resulting pattern is indicative of a pedestrian.
- a spread of the relative velocities or of the Doppler frequencies representing the relative velocities is determined and analyzed.
- the object 200 is classified as a pedestrian by a temporal analysis, and corresponding patterns or characteristics of such patterns may be predetermined and made into one
- each individual receive power of all receiving antennas can be simply summed up ("non-coherent integration") or alternatively it can be tried to what extent in one
- Frequenzbin one or more objects can be determined at a corresponding angle with sufficiently high quality. It is sufficient if in each frequency bin only the angle of the more powerful object can be determined (due to the strong difference in power of received signals) or just one angle should be determined in order to reach the higher one
- the processing of the continuous wave signal of the radar device 10 is basically the same as that of FMCW ramps, such as the other radar device 30.
- a non-coherent integration over all receive channels is followed by a spectral analysis, preferably by means of a Fast Fourier Transformation.
- the signal is split into frequencies, of which it is composed. Then the power of the frequency components in each frequency bin is determined, with one frequency bin each one defined
- the self-motion of the radar device 10 may complicate the performance of a microdoppler analysis for the detection of a pedestrian.
- a moving radar device 10 it looks as if a standing object 200 would be directly ahead with its own
- the reflected power of the stationary object 200 is therefore limited in the spectrum to those frequencies which correspond to the speeds between zero and the negative Ego speed.
- the speed of the motor vehicle 50 is compared with the
- FIG. 4 In the horizontal direction is a time t and in the vertical direction one
- a basic signal 405 represents objects that coincide with a Move less than the negative ego speed relative to the radar device 10 and thus are considered to be stationary.
- Individual peaks 410 correspond to an object 200 in the form of a pedestrian.
- the individual tips 410 represent maximum relative speeds, which are generated by steps of the pedestrian relative to the second radar device 30.
- a history 420 represents a sustained oncoming traffic of
- a boundary line of the region 405 is the negative first-speed v of the motor vehicle ego 50th
- Cross-border pedestrians are particularly relevant for pedestrian and cyclist protection in the field of driver assistance. Compared to frontal oncoming pedestrians, the radial component of their movement in the direction of the radar device 10 is indeed significantly reduced, but not zero. Even if the pedestrian crosses a road vertically on which the motor vehicle 50 travels, it does not move perpendicularly to the radar device 10. However, for a crossing pedestrian, typically only the relative speed of the forward swinging leg is higher than that of a stationary object directly in FIG Driving direction ahead.
- Motor vehicle 50 different speeds.
- the ego speed of the motor vehicle 50 is usually determined with respect to a vehicle rear axle.
- By usually also known yaw rate of the motor vehicle 50 can be easily the corresponding
- the measurable speed is also reduced by the lateral offset to the direction of movement of the radar devices 10, 30.
- Fig. 6 shows a detail B of Fig. 5, for which a time-frequency screening is performed.
- Fig. 7 shows in a figure a) the area B of Fig. Unscaned and in a figure b) a time-frequency rasterization of the area B, wherein horizontally
- a square field B1, B2, B3, B4 of the time-frequency rastering corresponds to a frequency bin in the discrete domain or a defined frequency interval in the analog domain.
- the received powers are correlated in such a way that an object results therefrom at an angle, the object being arranged in the form of a pedestrian relative to the radar device 10, 30.
- the received powers are correlated in such a way that they result in an object under a curve, the object 200 being arranged in the form of a vehicle relative to the radar devices 10, 30.
- no object 200 can be detected due to a correlation of received signals.
- the method can be implemented as a software running on the radar devices 10, 30 and the processing device 20, whereby a simple changeability of the method is supported.
- an influence of raindrops does not have to be considered for the proposed system, because the power reflected on raindrops often overlaps with the microdoppler effect of a pedestrian. Since this is a spatially distributed event, it has been shown that despite the sometimes quite significant performance often no angle of incidence can be determined. Rain therefore only effectively reduces the signal-zu ⁇
- Power spread of the pedestrian is determined without interference.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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EP3553551B1 (en) * | 2018-04-10 | 2022-06-01 | Aptiv Technologies Limited | Method for the recognition of an object |
EP3553559B1 (en) | 2018-04-11 | 2022-06-01 | Aptiv Technologies Limited | Method for the recognition of objects |
EP3553552B1 (en) | 2018-04-11 | 2022-05-25 | Aptiv Technologies Limited | Method for the recognition of a moving pedestrian |
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CN112130143A (en) * | 2019-06-25 | 2020-12-25 | 富士通株式会社 | Article detection method and apparatus |
CN113015922B (en) * | 2019-10-22 | 2022-05-31 | 华为技术有限公司 | Detection method, detection device and storage medium |
DE102020206771A1 (en) * | 2020-05-29 | 2021-12-02 | Siemens Mobility GmbH | Method for estimating an airspeed |
US20220026557A1 (en) * | 2020-07-22 | 2022-01-27 | Plato Systems, Inc. | Spatial sensor system with background scene subtraction |
CN112882009B (en) * | 2021-01-12 | 2022-04-19 | 西安电子科技大学 | Radar micro Doppler target identification method based on amplitude and phase dual-channel network |
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DE102005008715A1 (en) | 2005-02-25 | 2006-08-31 | Robert Bosch Gmbh | Radar system e.g. for motor vehicle, supplies probable collision time-point and collision speed to pre-crash-system |
US20100152600A1 (en) * | 2008-04-03 | 2010-06-17 | Kai Sensors, Inc. | Non-contact physiologic motion sensors and methods for use |
DE102010045980A1 (en) * | 2010-09-18 | 2011-05-12 | Daimler Ag | Radar method for determining distance and speed and/or angles of object i.e. pedestrian, involves continuing base band signal and/or signal derived from base band signal by spectral estimation method i.e. linear prediction |
DE102011121560A1 (en) * | 2011-12-20 | 2013-06-20 | Daimler Ag | Method for detection and classification of objects based on radar data, involves forming spacing cells for equal space or angle cells for equal angles, where temporal velocity curves are determined for multiple point targets of object |
DE102013212090A1 (en) * | 2013-06-25 | 2015-01-08 | Robert Bosch Gmbh | Angle-resolving FMCW radar sensor |
KR101797792B1 (en) * | 2013-07-05 | 2017-11-14 | 주식회사 만도 | Frequency modulated continuous wave radar detecting device, and method thereof for detecting a material object using a continuous wave |
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DE102014212284A1 (en) * | 2014-06-26 | 2015-12-31 | Robert Bosch Gmbh | MIMO radar measurement method |
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DE102014218092A1 (en) * | 2014-09-10 | 2016-03-10 | Volkswagen Aktiengesellschaft | Creating an image of the environment of a motor vehicle and determining the relative speed between the motor vehicle and objects in the environment |
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DE102016213007A1 (en) * | 2016-07-15 | 2018-01-18 | Robert Bosch Gmbh | Method and system for scanning an object |
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