EP3740782A1 - Fmcw-radarsensor - Google Patents
Fmcw-radarsensorInfo
- Publication number
- EP3740782A1 EP3740782A1 EP18808308.3A EP18808308A EP3740782A1 EP 3740782 A1 EP3740782 A1 EP 3740782A1 EP 18808308 A EP18808308 A EP 18808308A EP 3740782 A1 EP3740782 A1 EP 3740782A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- signal
- antenna elements
- radar sensor
- time
- frequency
- 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
-
- 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
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
- G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- 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
- 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
- G01S7/358—Receivers using I/Q processing
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q25/00—Antennas or antenna systems providing at least two radiating patterns
- H01Q25/02—Antennas or antenna systems providing at least two radiating patterns providing sum and difference patterns
-
- 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
- G01S2013/0236—Special technical features
- G01S2013/0245—Radar with phased array antenna
- G01S2013/0263—Passive array antenna
Definitions
- the invention relates to an FMCW radar sensor having a plurality of antenna elements arranged at a distance in a row, to each of which a mixer, which generates an intermediate frequency signal by mixing a received signal with an oscillator signal, and an evaluation unit, which is designed to: recording the intermediate frequency signal as a function of time over a measuring period and converting the time signal thus obtained into a spectrum by means of Fourier transformation, and with an angle measuring device in which the spectra obtained by the various evaluation devices are further evaluated in separate channels.
- the frequency of the transmission signal is modulated in a cluster.
- an intermediate frequency signal is obtained by mixing the supplied signal with the transmission signal, the frequency of which depends on the frequency difference between the currently transmitted signal and the received signal. Due to the ramp-shaped modulation, this frequency difference depends on the transit time of the radar waves from the sensor to the object and back to the sensor.
- Fourier transformation yields a spectrum of the intermediate frequency signal in which each georeference signal object as a peak at a frequency dependent on the distance of the object. Due to the Doppler effect, however, the frequency position of the peak also depends on the relative speed of the object.
- the measurement period over which the time signal is recorded can only have a limited length results in artifacts being generated in the form of secondary maxima during the Fourier transformation, which make the interpretation of the signal more difficult. It is known to largely suppress such secondary maxima by "windowing" the time signal before the Fourier transformation with a suitable window function, for example by multiplying the time signal by a likewise time-dependent window function.
- the window function for example a so-called Hamming window, primarily has the effect of smoothing out the abrupt transitions in the time signal at the beginning and at the end of the measurement period, thereby reducing the secondary maxima.
- Radar sensors of this type are already widely used as sensory components in driver assistance systems for motor vehicles.
- the performance of the radar sensors is becoming increasingly demanding.
- the number of antenna elements arranged in a row can be increased.
- the location sensitivity can then also be increased, in that the signals received by the various antenna elements, which are then substantially in phase with the object, are coherently added, so that a better signal-to-noise ratio is obtained by constructive superimposition.
- An improved distance resolution can be achieved by carrying out the ramp-shaped modulation of the transmission signal with a larger frequency deviation.
- this increases the frequency spacing between two peaks of objects that are located at different distances.
- the distance space can accordingly be subdivided into a larger number of distance bins, whereby the requirement is still met that each object peak can be unambiguously assigned to a specific distance bin.
- the object of the invention is to improve the location sensitivity and / or distance resolution for objects lying in a specific preferred direction in a radar sensor of the type mentioned at the outset. This object is achieved according to the invention by:
- a beam shaping device which is designed to make a beam shaping for the signal received from a predetermined preferred direction, by compensation of run length differences of the signal to the various antenna elements,
- a distance measuring device for determining distances of objects in the preferred direction on the basis of the sum spectrum.
- the invention makes it possible to compensate for the run length differences for a given preferred direction in such a way that the beam shaping for this direction is optimized and accordingly the coherent addition for objects lying in the selected preferred direction leads to higher detection sensitivity and improved distance resolution.
- the compensation of the run-length differences achieves that the increase in the frequency deviation does not lead to a broadening of the peaks but to an improvement in the distance resolution.
- the beam shaping can be done in different ways.
- One possibility is to make the compensation of the run length differences in the individual evaluation, by there the time signals windowing with suitably chosen complex valued window functions.
- a property of the Fourier transformation is exploited, which consists in the fact that the choice of the complex-valued window function makes it possible to shift the spectrum obtained by the Fourier transformation by an adjustable amount on the frequency axis.
- the transit time differences can be determined by a suitable frequency - compensate for displacement by means of the window function, without complex measures to adjust cable lengths are required.
- the preferred direction can be varied depending on the situation by using window functions in the individual evaluation devices, which effects different frequency shifts.
- the compensation of the run-length differences can also be achieved by adapting line lengths, for example by selecting the line length from the antenna element to the mixer for each antenna element such that a signal delay results which compensates for the run-length difference.
- the run length difference can also be compensated for by selecting a different line length for each antenna element for the lines on which the oscillator signal is fed to the mixer.
- the preferred direction is determined by the selected line lengths. In principle, however, it is possible to switch between different conduction paths depending on the position, which then also results in switching between the respective preferred directions.
- each of the antenna elements can be used for transmission (MIMO) or only one selected antenna element is used for transmission while the other antenna elements are for reception only.
- MIMO transmission
- beam shaping in the transmission path can be effected, as long as the beam shaping is achieved by adaptation of line lengths, depending on the embodiment.
- FIG. 1 shows a block diagram of the essential components of a radar sensor according to the invention
- FIG. 2 is a timing diagram illustrating the frequency modulation of an FMCW radar
- FIG. 3 shows examples of time signals which are received in different antenna elements of the radar sensor according to FIG. 1;
- FIG. 4 shows spectra of the time signals according to FIG. 3;
- FIG. and FIGS. 5 and 6 are block diagrams analogous to FIG. 1 for different embodiments of the invention.
- the radar sensor shown in FIG. 1 has a multiplicity (n) of antenna elements 10 (ULA, uniformly linear array) arranged at uniform intervals in a row, to each of which a mixer 12 is assigned.
- the row of antenna elements can also be part of a two-dimensional antenna array.
- the mixers receive in-phase oscillator signals OSC from a common local oscillator.
- the antenna elements 10 serve only for receiving a radar signal E.
- at least one further antenna element, not shown, is provided, to which the same oscillator signal OSC is supplied as the mixers 12.
- the radar echo reflected by an object is received by the antenna elements 10 and mixed in the mixers 12 with the oscillator signal OSC, whereby an intermediate frequency signal Z1, Zi, Zn is generated, which is output to an evaluation unit 16.
- Each evaluation unit 16 contains a preprocessing stage 18 with a time signal module 20, in which the intermediate frequency signal is digitized and recorded over a specific measurement period as a function of time.
- a digital time signal S1, Si, Sn is formed, which is transmitted to a window module 22, in which the time signal generated from the intermediate frequency signal is windowed with a window function V1, Vi, Vn.
- a corrected time signal S1_c, Si_c, Sn_c is formed, which is then converted in a Fourier transform module 24 of the evaluation unit 16 by Fourier transformation. is converted into a spectrum F [S1_c], F [Si_c], F [Sn_c].
- the spectra are coherently added (ie, adding the complex amplitudes before the square of the sum is formed).
- the resulting sum spectrum (magnitude square as a function of frequency) is also shown graphically in FIG.
- the distance of the located object is determined in a distance measuring device 30 with high resolution.
- the azimuth angle of the object is determined in an angle measuring device 32 (with the row of antenna elements 10 in a horizontal arrangement).
- the spectra F [S1_c], ... supplied by the individual evaluation devices 16 are evaluated in separate evaluation channels, so that the azimuth angle can be determined on the basis of the angle-dependent amplitude and phase relationships between the received signals.
- a value for the distance of the object can also be determined in the angle measuring device 32 on the basis of the individual spectra, but because of the poorer signal-to-noise ratio, the location sensitivity and the accuracy of the distance measurement are lower.
- a compensation of the run length differences is therefore possible only for a certain azimuth angle Q, which indicates a certain direction of incidence of the radar radiation E.
- This direction of incidence is referred to herein as "preferred direction” and is indicated by the angle Q.
- FIG. 2 shows a (simplified) example of a modulation scheme with which the frequency of the oscillator signal OSC - and thus also the frequency f r of the transmitted radar waves - is modulated.
- the frequency f r is represented as a function of the time t and has a sequence of modulation ramps 34 with a ramp slope B / T, where B is the frequency deviation and T is the duration of the modulation ramp. This duration T is at the same time the duration of the measurement period over which the time signal is recorded in the time signal module 20.
- each mixer 12 the received signal E is mixed with oscillator signal OSC whose frequency corresponds to the frequency of the currently transmitted radar signal.
- the frequency of the received signal E is given by the frequency of the oscillator signal OSC at the time the signal was transmitted.
- the frequency difference - and thus the frequency (beat frequency) of the relevant intermediate frequency signal Z1, Zi, Zn - is therefore proportional to the total transit time of the signal from the radar sensor to Object and back to the respective antenna element 10, and proportional to the ramp slope B / T, and the signal propagation time in turn is proportional to twice the object distance. Due to the run length difference D, however, the object distances for two neighboring antenna elements 10 are different from each other by 2D, so that the associated intermediate frequency signals also have a corresponding frequency difference, as shown in FIG.
- the timing signals S1, Si, Sn are shown as functions of the time t.
- the real part ReA of the (complex) amplitude A is given here. It can be seen that the frequency of the time signal S1 (for the time shown in FIG.
- j is the root of (-1)
- p is the circle number
- T is the duration of the measurement period and at the same time the ramp duration
- b is a so-called binary offset is chosen so that the run length difference for the preferred direction Q is compensated
- the window function Vi (t) is a complex-valued function whose magnitude is constant at 1 and whose phase is proportional to time t and to the bin offset b.
- the bin width W has the dimension of a length, while on the horizontal axis in FIG. 4 the frequency f is given as an independent variable.
- the frequency f can thus also be regarded as a measure of the object distance D.
- the frequency bins shown in FIG. 4 are therefore equivalent to distance bins with the bin width W.
- the coherent sum of the corrected spectra F [Si_c] yields the sum spectrum EF [Si_c].
- This sum spectrum is characterized by a high signal-to-noise ratio, and since the frequency offsets are corrected between the individual spectra, increasing the frequency sweep B does not lead to a broadening of the peak in the sum spectrum, but rather to the desired increased pitch resolution.
- Fig. 5 shows a modified embodiment in which the compensation of the run length differences is achieved by detour lines 36 which extend the Sig nalweg from the antenna element 10 to the mixer 12 in the mass as the run length of the signal decreases.
- window modules 22 are also present in the evaluation devices 16 in this case, the time signals are windowed here only with real-valued window functions V which evaluate a suppression of sidelobes.
- the complex-valued window functions Vi which are used in the first exemplary embodiment, may additionally contain a real-valued factor for suppressing side lobes.
- the signal paths can be switched by means of switches 38.
- the switches 38 take the dashed lines in FIG drawn position so that all signal paths have the same length. Only when a high-resolution distance measurement for signals from the preferred direction is to be made, the switches 38 are switched and thus the bypass lines 36 activated.
- switches for each antenna element it is also possible, according to the same principle, to switch over between a plurality of diversely long detour lines which define different preferred directions.
- the oscillator signal OSC is supplied via a circulator 40 to each of the antenna elements 10, so that each antenna element also operates as a transmitting antenna.
- Detour lines 42 are provided in this case in the Sig nal compassion, via which the oscillator signal OSC is supplied to the mixer 12.
- the oscillator signal which the mixer 12 receives is delayed to the same extent as the received signal, which the mixer receives via the circulator 40, is delayed due to the run-length difference.
- the run length differences are compensated by different line lengths.
- the detour lines 42 can be bridged with the aid of switches 44 in order to carry out angle measurements on the basis of unadulterated phase relationships.
- the detour lines 42 are located only in the line branch via which the oscillator signal is supplied to the mixer 12, all antenna elements 10 receive in-phase transmit signals, so that the main emission direction of the radar beams is the direction with the azimuth angle zero.
- detour lines arranged in the conduit path from the circulator 40 to the mixer 12.
- the bypass lines are arranged in the line path via which the oscillator signal OSC is supplied to the circulator 40 or in the line path. If the signal path between the circulator 40 and the antenna element 10 also results in phase differences between the transmission signals, beamforming would also take place when the radar beam is transmitted, and the main radiation direction would be identical to the preferred direction at the azimuth angle Q.
- a further embodiment is illustrated in phantom, in which only one of the antenna elements 10, namely the farthest left, a circulator 40 is assigned, so that this antenna element also serves as a transmitting antenna, while all other antenna elements only received.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018200765.9A DE102018200765A1 (de) | 2018-01-18 | 2018-01-18 | FMCW-Radarsensor |
PCT/EP2018/082297 WO2019141413A1 (de) | 2018-01-18 | 2018-11-22 | Fmcw-radarsensor |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3740782A1 true EP3740782A1 (de) | 2020-11-25 |
Family
ID=64477149
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18808308.3A Pending EP3740782A1 (de) | 2018-01-18 | 2018-11-22 | Fmcw-radarsensor |
Country Status (7)
Country | Link |
---|---|
US (1) | US11360202B2 (de) |
EP (1) | EP3740782A1 (de) |
JP (1) | JP7033663B2 (de) |
KR (1) | KR20200104913A (de) |
CN (1) | CN111630410A (de) |
DE (1) | DE102018200765A1 (de) |
WO (1) | WO2019141413A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11796632B2 (en) * | 2020-12-17 | 2023-10-24 | Nxp Usa, Inc. | Frequency and time offset modulation chirp MIMO radar |
CN112763983B (zh) * | 2020-12-25 | 2022-04-26 | 四川九洲空管科技有限责任公司 | 一种二次雷达通道信号的配对装置 |
CN114325591A (zh) * | 2022-03-08 | 2022-04-12 | 中国人民解放军火箭军工程大学 | 一种sar雷达主瓣有源干扰的极化滤波抑制方法 |
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US4749995A (en) * | 1985-02-26 | 1988-06-07 | Westinghouse Electric Corp. | Phased array radar antenna system |
US5351053A (en) * | 1993-07-30 | 1994-09-27 | The United States Of America As Represented By The Secretary Of The Air Force | Ultra wideband radar signal processor for electronically scanned arrays |
CA2195925A1 (en) * | 1997-01-24 | 1998-07-24 | Peter R. Moosbrugger | Fmcw radar with angular position detection |
JP3061261B2 (ja) * | 1997-04-01 | 2000-07-10 | 本田技研工業株式会社 | Fmレーダ装置 |
FR2809186B1 (fr) * | 2000-05-22 | 2002-07-12 | Celine Corbrion | Procede et dispositif pour mesurer la vitesse d'un mobile |
US6624783B1 (en) * | 2001-02-28 | 2003-09-23 | Massachusetts Institute Of Technology | Digital array stretch processor employing two delays |
US20050156780A1 (en) * | 2004-01-16 | 2005-07-21 | Ghz Tr Corporation | Methods and apparatus for automotive radar sensors |
WO2005101051A2 (en) * | 2004-04-12 | 2005-10-27 | Ghz Tr Corporation | Method and apparatus for automotive radar sensor |
JP4496954B2 (ja) * | 2004-12-24 | 2010-07-07 | 日本電気株式会社 | 干渉型レーダー |
DE102006032540A1 (de) * | 2006-07-13 | 2008-01-17 | Robert Bosch Gmbh | Winkelauflösender Radarsensor |
JP4468402B2 (ja) * | 2007-04-19 | 2010-05-26 | 三菱電機株式会社 | レーダ装置 |
WO2008149351A2 (en) * | 2007-06-04 | 2008-12-11 | Bon Networks Inc. | Electronically steerable antenna system for low power consumption |
JP4545174B2 (ja) * | 2007-06-11 | 2010-09-15 | 三菱電機株式会社 | レーダ装置 |
JP4415040B2 (ja) * | 2007-09-18 | 2010-02-17 | 三菱電機株式会社 | レーダ装置 |
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 |
US8666118B2 (en) * | 2009-05-20 | 2014-03-04 | Imagenex Technology Corp. | Controlling an image element in a reflected energy measurement system |
US8466829B1 (en) * | 2009-09-14 | 2013-06-18 | Lockheed Martin Corporation | Super-angular and range-resolution with phased array antenna and multifrequency dither |
CN101957446B (zh) * | 2010-09-26 | 2012-12-26 | 深圳市汉华安道科技有限责任公司 | 一种fmcw雷达测距的方法和装置 |
DE102011084610A1 (de) * | 2011-10-17 | 2013-04-18 | Robert Bosch Gmbh | Winkelauflösender Radarsensor |
TWI472790B (zh) * | 2013-05-31 | 2015-02-11 | Wistron Neweb Corp | 信號產生方法及雷達系統 |
DE102013212090A1 (de) * | 2013-06-25 | 2015-01-08 | Robert Bosch Gmbh | Winkelauflösender FMCW-Radarsensor |
JP6490104B2 (ja) * | 2014-06-05 | 2019-03-27 | コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングConti Temic microelectronic GmbH | 中間データの最適化された保存を伴うレーダーシステム |
DE102014212284A1 (de) * | 2014-06-26 | 2015-12-31 | Robert Bosch Gmbh | MIMO-Radarmessverfahren |
DE102014212281A1 (de) * | 2014-06-26 | 2015-12-31 | Robert Bosch Gmbh | Radarmessverfahren mit unterschiedlichen Sichtbereichen |
JP5925264B2 (ja) * | 2014-09-10 | 2016-05-25 | 三菱電機株式会社 | レーダ装置 |
US10317518B2 (en) * | 2015-07-20 | 2019-06-11 | Brigham Young University (Byu) | Phased array radar systems for small unmanned aerial vehicles |
DE102015222884A1 (de) * | 2015-11-19 | 2017-05-24 | Conti Temic Microelectronic Gmbh | Radarsystem mit verschachtelt seriellem Senden und parallelem Empfangen |
JP2017173227A (ja) * | 2016-03-25 | 2017-09-28 | パナソニック株式会社 | レーダ装置及びレーダ方法 |
US11194033B2 (en) * | 2016-05-30 | 2021-12-07 | Nec Corporation | Object sensing device, automotive radar system, surveillance radar system, object sensing method, and program |
-
2018
- 2018-01-18 DE DE102018200765.9A patent/DE102018200765A1/de active Pending
- 2018-11-22 CN CN201880086891.3A patent/CN111630410A/zh active Pending
- 2018-11-22 JP JP2020539752A patent/JP7033663B2/ja active Active
- 2018-11-22 EP EP18808308.3A patent/EP3740782A1/de active Pending
- 2018-11-22 US US16/766,670 patent/US11360202B2/en active Active
- 2018-11-22 WO PCT/EP2018/082297 patent/WO2019141413A1/de unknown
- 2018-11-22 KR KR1020207023388A patent/KR20200104913A/ko not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
CN111630410A (zh) | 2020-09-04 |
JP7033663B2 (ja) | 2022-03-10 |
WO2019141413A1 (de) | 2019-07-25 |
JP2021510822A (ja) | 2021-04-30 |
DE102018200765A1 (de) | 2019-07-18 |
US11360202B2 (en) | 2022-06-14 |
KR20200104913A (ko) | 2020-09-04 |
US20200363520A1 (en) | 2020-11-19 |
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