EP3737963A1 - Système radar comportant une unité d'analyse intégrée dans une tête de capteur radar - Google Patents

Système radar comportant une unité d'analyse intégrée dans une tête de capteur radar

Info

Publication number
EP3737963A1
EP3737963A1 EP18800609.2A EP18800609A EP3737963A1 EP 3737963 A1 EP3737963 A1 EP 3737963A1 EP 18800609 A EP18800609 A EP 18800609A EP 3737963 A1 EP3737963 A1 EP 3737963A1
Authority
EP
European Patent Office
Prior art keywords
radar
data
control unit
central control
radar system
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
EP18800609.2A
Other languages
German (de)
English (en)
Inventor
Marcel Mayer
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 EP3737963A1 publication Critical patent/EP3737963A1/fr
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
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—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
    • G01S13/87—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
    • G01S13/88—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
    • G01S2013/9318—Controlling the steering
    • 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
    • G01S2013/9319—Controlling the accelerator
    • 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
    • G01S7/356—Receivers involving particularities of FFT processing

Definitions

  • the invention relates to a radar system for a vehicle, comprising a central control unit for transmitting data and for processing received data, at least one radar sensor head spaced from the central control unit with at least one transmitting antenna for generating and at least one receiving antenna for receiving
  • Radar waves and having at least one data line between the central control unit and the at least one radar sensor head.
  • radar sensors For vehicles with a high level of driver assistance functions or automated driving function, more and more radar sensors are installed. Higher numbers of radar sensors are designed to increase the efficiency of automated or semi-automated case functions over single radar sensors. Previous solutions in this area consist of radar sensors, which perform sensor-extensive data processing of the received radar waves. Thus, the radar sensors can provide data at object or locating level for further evaluation by the vehicle. As a result, the amount of data transmitted to the vehicle can be reduced, but the respective radar sensors must have a higher
  • the disadvantage here is that the computing power and the memory size are relatively unfavorable scalable in terms of increased performance. This results in particular from the fact that, based on a defined requirement on the performance of the microcontroller technology for the necessary processing steps of the received radar waves no longer sufficient. Therefore, in order to increase performance, the necessary calculations and analyzes must be carried out within the sensor within the framework of microprocessor technologies. This can be detrimental to the price, size and power loss of a radar sensor.
  • the object underlying the invention can be seen to propose a radar system for vehicles, which is inexpensive and flexible in terms of the number of radar sensors used and the
  • Performance is scalable.
  • a radar system for a vehicle has at least one central control unit for transmitting data and processing received data. Furthermore, the radar system has at least one of the central
  • Control unit complained Radarsensorkopf with at least one
  • the radar system has at least one data line between the at least one central control unit and the at least one
  • Radarsensorkopf on an analog-to-digital converter downstream and upstream of the at least one data line analysis unit for at least partially processing by the analog-to-digital converter (16) generated digital measurement data.
  • Today's radar sensors are often designed as a fast-chirp radar. This means that many fast FMCW (Frequency Modulated Continuous Wave) ramps are sent to a scan area, which is also referred to as a so-called chirp sequence or a rapid chirp method.
  • FMCW Frequency Modulated Continuous Wave
  • the baseband signals are filtered, digitized and generally fed to a 2D Fourier transform. Since a subsequent Doppler FFT (Fast Fourier Transformation) can take place only when the data or measurement signals of all ramps or frequencies have been processed, a large memory for buffering the received radar signals is necessary.
  • Doppler FFT Fast Fourier Transformation
  • Hardware accelerator can be used.
  • radar sensors are used in a vehicle, it is advantageous to concentrate the required computing power in at least one central control unit.
  • the respective radar sensors can thus be used as compact and inexpensive radar sensor heads without significant
  • Radar sensor head Components for generating and transmitting radar waves as well as components for receiving and processing received
  • the processing of the received radar waves is limited to the smallest possible extent or takes place with the least possible effort.
  • the measured data of the received radar waves can be digitized by the analog-to-digital converter and then transmitted with a high bandwidth to the at least one central control unit.
  • At least one radar sensor head can then take place in the at least one central control unit.
  • the costs for the respective radar sensor heads can be reduced because less computing power is required in the radar sensor heads.
  • the inventive Radar system inexpensive and flexible compared to previous solutions expanded and scaled. Furthermore, due to the higher computing power of the at least one central control unit, more complex and powerful algorithms can be used to process the received radar waves.
  • High-frequency device such as a so-called Monolithic Microwave Integrated Circuit (MMIC) to integrate a first processing stage.
  • MMIC Monolithic Microwave Integrated Circuit
  • This may preferably be an analysis unit for performing a Fourier analysis.
  • the analysis unit can perform a range FFT of the digitized measurement data.
  • other Fourier transforms may also be used.
  • This first processing stage is usually inexpensive integrated into the existing components of a Radarsensorkopfes, since the required area in the high-frequency module is very low and there is a small memory requirement. Thus, in the production of the corresponding high-frequency module, the silicon area used can usually remain the same.
  • radar system is explained by way of example with reference to a chirp sequence radar, it can also be applied to other radar types or modulation types.
  • Alternative radar methods may be, for example, slow FMCW radars without a post-Doppler FFT, PN radars with an analyzer as a correlator bank, or an OFDM radar with an analyzer to perform spectral division.
  • a Fourier transformation and / or an orthogonal frequency division multiplexing method and / or at least one correlator can be executed by the analysis unit arranged upstream of the at least one data line.
  • the fast Fourier transformation can be, for example, a range FFT, which can be adapted to the respective intended use. For example, the fast Fourier transform can only be performed up to the anti-aliasing filter limit.
  • the first processing stage the computational effort in the at least one central control unit can be reduced.
  • a data volume to be transmitted by the at least one data line can be reduced.
  • the radar waves received by the at least one receiving antenna of the at least one radar sensor head are converted into digital by the analog-to-digital converter
  • Measurement data convertible and markable with at least one time information.
  • the received radar waves or measurement data can be converted into a digital format and thus processed more easily.
  • the measured data converted into a digital format can be provided with a time stamp.
  • each recorded spectrum may be given its own timestamp.
  • the analysis unit may preferably be provided for performing a range FFT in the radar sensor head. Since this transformation requires relatively little memory, the analysis unit can be manufactured, for example, in RFCMOS technology and integrated into an MMIC, such as a high-frequency module of the radar sensor head. Since not all range bins are required due to the anti-aliasing filter, for example 90% or 45% of the bins, the resulting amount of data can be reduced and the FFT simultaneously used as a buffer to reduce peak data rates of the radar sensor head.
  • the digital measurement data can be transmitted by the at least one data line to the central control unit and synchronized in the central control unit by the at least one time information item. Due to the first processing of the received measurement data in the radar sensor head, a defined buffering of the accumulating data volume takes place. The resulting deviations between the at least one radar sensor head and the at least one central control unit can be compensated based on the allocated time information become.
  • the time information can preferably be realized in the form of a time stamp or several time stamps.
  • the timestamps for a temporal synchronization of the measurement data between the at least one Radarsensorkopf the at least one central control unit can be used.
  • measurement data transmitted with a delay to the at least one central control unit can also be correctly timed and used for further applications or calculations.
  • the at least one time information is provided by one in the at least one
  • the at least one radar sensor head can thus have an additional circuit arranged parallel to the analysis unit.
  • Control device can, for example, on the at least one
  • the time and control device can be used for controlling the at least one radar sensor head and, for example, for monitoring control or cycle control.
  • timestamps for each transmitted chirp or cycle must be added by the time and control device to the transmitted measurement data, for example, so that the at least one central chime can be added
  • Control unit can make sense of the transmitted measurement data.
  • the at least one transmitting antenna of the at least one radar sensor head has an oscillator for generating a carrier frequency.
  • the oscillator is adjustable by the time and control device of the central control unit.
  • an influencing of the components of the at least one radar sensor head can be realized by the at least one central control unit.
  • the oscillator or oscillators of the at least one Radarsensorkopfes can be directly or indirectly controlled or regulated.
  • oscillators of at least two radar sensor heads are provided by the central control unit synchronized with each other.
  • a plurality of radar sensor heads spaced apart from each other can be installed and data-connected to one or more central control units via data connections. Due to the implemented time and control devices in the different radar sensor heads, when using several
  • Radarsensorkö pfen the respective oscillators of the transmitting antennas are synchronized with each other.
  • the accuracy of the measurement results can be increased.
  • the driver assistance functions or the automated driving functions of the vehicle can be optimized.
  • the number of radar sensor heads used can be arbitrarily increased without negative influences of the performance.
  • the data transmitted by the at least one data line can be transmitted at a higher data rate than a reference frequency of the at least one transmitting antenna of the at least one radar sensor head.
  • the transmission of the data through the at least one data line must take place with a higher time resolution than the radar operation.
  • further functions such as safety functions for monitoring frequency deviations of different oscillators, can be integrated into the radar system according to the invention.
  • the higher time resolution for data transmission can be technically easily realized in the context of an MMIC technology, since the technology enables frequencies of several gigahertz.
  • the internal reference frequency may, for example, be 50 MHz for a PLL reference of the at least one transmit antenna, whereby the data rate according to the example must be higher than 50 Mbit / s.
  • the at least one central control unit has at least one processor
  • the at least one central control unit can transmit the measured data transmitted by the at least one data line from at least one radar sensor head at least Save temporarily and process, forward or output according to the requirements of the respective application.
  • the at least one central control unit can transmit the measured data transmitted by the at least one data line from at least one radar sensor head at least Save temporarily and process, forward or output according to the requirements of the respective application.
  • control unit can be replaced by a more powerful control unit. Since microprocessor technology is already used here, sophisticated algorithms can be used to process the measured data, thus achieving more accurate calculation results.
  • Fig. 1 is a schematic representation of a radar system according to a first embodiment of the invention.
  • Fig. 2 is a schematic representation of a radar system according to a
  • FIG. 1 shows a schematic representation of a radar system 1 according to a first embodiment of the invention.
  • the radar system 1 in this case consists of a radar sensor head 2, which is coupled via a data line 4 to a central control unit 6.
  • the radar sensor head 2 has at least one transmitting antenna 8, which can be operated via an antenna controller 10.
  • the antenna controller 10 is inter alia with at least one oscillator 11 for generating a
  • Carrier frequency of the radar waves coupled.
  • the received radar waves can be converted by an analog-to-digital converter 16 into digital measurement data and subsequently transformed by an analysis unit 18 in the radar sensor head 2 in a first processing step.
  • the transformed digital measurement data can then be transmitted to the central control unit 6 via a broadband data line 4.
  • the transmitted digital measurement data is assigned a time stamp Z by a time and control device 20 arranged in the radar sensor head 2 and likewise transmitted to the central control unit 6.
  • the central control unit 6 can receive and process the transmitted digital measurement data.
  • the timestamps transmitted with the measurement data allow them to be precisely timed.
  • FIG. 2 shows a schematic illustration of a radar system 1 according to a second embodiment of the invention.
  • three radar sensor heads 2 are connected here via corresponding data lines 4 to a central control unit 6.
  • the central control units 6 are in this case via the data lines 4 control commands ST to the time and
  • Control devices 20 of the respective radar sensor heads 2 off. This allows the different radar sensor heads 2 and in particular the respective oscillators 11 are optimally matched and synchronized.

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)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un système radar pour un véhicule, présentant au moins une unité de commande centrale pour l'émission de données et pour le traitement de données reçues, au moins une tête de capteur radar espacée de l'au moins une unité de commande centrale et comportant au moins une antenne d'émission destinée à produire des ondes radar et au moins une antenne de réception destinée à recevoir des ondes radar, et au moins une ligne de données entre l'au moins une unité de commande centrale et l'au moins une tête de capteur radar, l'au moins une tête de capteur radar présentant une unité d'analyse montée en aval d'un convertisseur analogique-numérique et en amont de l'au moins une ligne de données, destinée à traiter au moins partiellement des données de mesure numériques produites par le convertisseur analogique-numérique (16).
EP18800609.2A 2018-01-11 2018-11-08 Système radar comportant une unité d'analyse intégrée dans une tête de capteur radar Pending EP3737963A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018200394.7A DE102018200394A1 (de) 2018-01-11 2018-01-11 Radarsystem mit in einem Radarsensorkopf integrierter Analyseeinheit
PCT/EP2018/080694 WO2019137655A1 (fr) 2018-01-11 2018-11-08 Système radar comportant une unité d'analyse intégrée dans une tête de capteur radar

Publications (1)

Publication Number Publication Date
EP3737963A1 true EP3737963A1 (fr) 2020-11-18

Family

ID=64270887

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18800609.2A Pending EP3737963A1 (fr) 2018-01-11 2018-11-08 Système radar comportant une unité d'analyse intégrée dans une tête de capteur radar

Country Status (7)

Country Link
US (1) US20200363499A1 (fr)
EP (1) EP3737963A1 (fr)
JP (1) JP7150856B2 (fr)
KR (1) KR20200103109A (fr)
CN (1) CN111587379A (fr)
DE (1) DE102018200394A1 (fr)
WO (1) WO2019137655A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11953615B2 (en) * 2020-01-13 2024-04-09 Uhnder Inc. Method and system for antenna array calibration for cross-coupling and gain/phase variations in radar systems

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10133962A1 (de) * 2001-07-17 2003-02-06 Bosch Gmbh Robert Verfahren zur Synchronisation und Vorrichtung
JP4766404B2 (ja) * 2008-10-28 2011-09-07 トヨタ自動車株式会社 レーダ装置
CN201576090U (zh) * 2009-12-03 2010-09-08 刘宛莲 一种前后倒车雷达警示系统
CN201576092U (zh) * 2009-12-03 2010-09-08 刘宛莲 一种多功能倒车雷达系统
US9069080B2 (en) * 2013-05-24 2015-06-30 Advanced Scientific Concepts, Inc. Automotive auxiliary ladar sensor
DE102013212090A1 (de) * 2013-06-25 2015-01-08 Robert Bosch Gmbh Winkelauflösender FMCW-Radarsensor
US10627480B2 (en) * 2014-07-17 2020-04-21 Texas Instruments Incorporated Distributed radar signal processing in a radar system
CN104483667A (zh) * 2015-01-02 2015-04-01 江苏新瑞峰信息科技有限公司 一种车载雷达装置
US10162053B2 (en) * 2015-04-30 2018-12-25 Maxlinear, Inc. Multifunctional automotive radar
US10234542B2 (en) * 2015-09-30 2019-03-19 Texas Instruments Incorporated Measurement of transceiver performance parameters in a radar system
US10061015B2 (en) * 2015-09-30 2018-08-28 Texas Instruments Incorporated Multi-chip transceiver testing in a radar system

Also Published As

Publication number Publication date
WO2019137655A1 (fr) 2019-07-18
JP7150856B2 (ja) 2022-10-11
DE102018200394A1 (de) 2019-07-11
CN111587379A (zh) 2020-08-25
JP2021510204A (ja) 2021-04-15
US20200363499A1 (en) 2020-11-19
KR20200103109A (ko) 2020-09-01

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