EP3769107A1 - Tête de capteur radar pour un système de radar - Google Patents

Tête de capteur radar pour un système de radar

Info

Publication number
EP3769107A1
EP3769107A1 EP19701189.3A EP19701189A EP3769107A1 EP 3769107 A1 EP3769107 A1 EP 3769107A1 EP 19701189 A EP19701189 A EP 19701189A EP 3769107 A1 EP3769107 A1 EP 3769107A1
Authority
EP
European Patent Office
Prior art keywords
data
radar
sensor head
calibration
radar sensor
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
EP19701189.3A
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 EP3769107A1 publication Critical patent/EP3769107A1/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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
    • 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
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers

Definitions

  • Radar sensor head for a radar system
  • the invention relates to a radar sensor head for a radar system.
  • the invention further relates to a radar system.
  • the invention further relates to a method for producing a radar sensor head for a radar system.
  • 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 computing power and a larger memory.
  • the disadvantage here is that the computing power and the memory size are comparatively unfavorable scalable in terms of increased performance. This results in particular from the fact that, based on a defined requirement on the performance, the microcontroller technology is no longer sufficient for the necessary processing steps of the received radar waves. Therefore, to increase performance, the necessary calculations and analyzes must be performed within the sensor within the framework of microprocessor technologies. This can be detrimental to the price, size and power loss of a radar sensor. Disclosure of the invention
  • the problem underlying the invention can be seen in proposing a radar sensor head for a radar system which is inexpensive and flexible with regard to the number of elements used.
  • a radar sensor head for a radar system comprising:
  • At least one transmitting antenna for generating and at least one receiving antenna for receiving radar waves
  • a calibration data device for at least partial calibration of the transmitting antenna and / or the receiving antenna, calibration data for the transmitting antenna and the receiving antenna being able to be stored by means of the calibration data device.
  • a calibration data device can be implemented in the radar sensor head with little effort, by means of which at least one partial calibration of the
  • Radar sensor head can be made. In this way it is e.g. possible to carry out an exchange of Radarsensorkopfs during a workshop stay efficiently.
  • 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 transform) 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 transform
  • 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
  • a proposed radar sensor head includes components for generating and transmitting radar waves, and components for receiving and processing received radar waves. The processing of received
  • Radar waves is limited to the smallest possible extent or takes place with the least possible effort.
  • Measurement data of the received radar waves are digitized by the analog-to-digital converter and then transmitted with a high bandwidth to the at least one central control unit.
  • the further processing of the digitized measured data from the at least one radar sensor head can then take place in at least one central control device.
  • the costs for the respective radar sensor heads can be reduced because less computing power is required in the radar sensor heads.
  • the radar system according to the invention can be extended inexpensively and flexibly compared to previous solutions and scaled. Furthermore, the higher computing power of the at least one central control device makes it possible to use more complex and powerful algorithms for processing the received radar waves.
  • a first processing stage into a high-frequency module such as, for example, a so-called Monolithic Microwave Integrated Circuit (MMIC).
  • MMIC Monolithic Microwave Integrated Circuit
  • the analysis unit can perform a range FFT of the digitized measurement data.
  • other Fourier transforms may also be used.
  • this first processing stage can be integrated inexpensively into the existing components of a radar sensor head since the required area in the high-frequency component is very small and there is a small storage requirement.
  • the silicon area used can usually remain the same.
  • a preferred embodiment of the radar sensor head is characterized in that a full calibration can be carried out by means of the calibration data device. Thus, it is advantageously possible to complete the calibration of
  • Radarsensorkopf perform without using a central control unit.
  • a calibration matrix is applicable.
  • the application of the calibration matrix corresponds to a matrix-vector multiplication, wherein a vector this case a defined number of
  • Another preferred embodiment of the radar sensor head is characterized in that a frequency correction can be carried out during the calibration process. In this way, a specific type of calibration can be performed, which makes sense, for example, when filter characteristics have to be corrected.
  • a further preferred embodiment of the radar sensor head is characterized in that the calibration data are at least one of the following: typical noise level, antenna properties, amplitude / phase deviations, position of the antenna elements, temperature characteristics, temperature responses. In this way, advantageously different properties of the antennas can be compensated during operation of the radar sensor head or
  • a further preferred embodiment of the radar sensor head provides that a Fourier transformation can be carried out by means of the preprocessing unit.
  • a preprocessing of the received data is carried out, as a result of which a data rate to a downstream central control device is advantageously reduced significantly.
  • a further preferred embodiment of the radar sensor head is characterized in that the radar waves received by the at least one receiving antenna can be converted into digital measurement data by an analog-to-digital converter and can be marked with at least one time information. In this way, receive sequences can be assigned exactly in time, which supports accurate processing of the measurement data.
  • FIG. 1 shows a schematic representation of a proposed radar sensor head
  • Fig. 2 is a schematic representation of a radar system with a
  • Fig. 3 is a schematic representation of a method for producing a Radarsensorkopfs.
  • the same constructive elements each have the same reference numerals.
  • the radar sensor head 100 has at least one transmitting antenna 10, which can be operated via an associated antenna controller 11.
  • the radar sensor head 100 has at least one transmitting antenna 10, which can be operated via an associated antenna controller 11.
  • Antenna controller 1 1 is coupled inter alia with at least one oscillator or synthesizer 30 for generating a carrier frequency of the radar waves.
  • the antenna controller 21 is functionally connected to an evaluation unit 40, wherein received radar waves by means of an arranged in the evaluation unit 40 A / D converter into digital
  • Measurement data are converted and then in a first
  • Processing step by means of a preprocessing unit 50 are transformed.
  • the radar waves received by the receiving antenna 20 of the radar sensor head 100 can be converted by the analog-to-digital converter into digital measured data and can be marked 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 combined with a
  • Timestamp be provided. For example, each recorded spectrum may be given its own timestamp.
  • the fast Fourier transform is preferably a range FFT, which may be adapted to the particular application, wherein the range FFT represents a first dimension of the FFT, in which the Doppler effect plays a minor role and resulting frequency bins almost exclusively are distance-dependent. Since this transformation requires relatively little memory, the Analysis unit 50, for example, manufactured in RFCMOS technology and integrated into an MMIC, such as a high-frequency module of the Radarsensorkopfes 100. 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 100.
  • a calibration data unit 70 in which calibration data are kept available, can be identified in the radar sensor head 100.
  • the calibration data can be at least one of the following: typical noise level of the antennas, antenna properties, amplitudes / phase deviations of the antennas, position of antenna elements, temperature characteristics or characteristics of the antennas.
  • the calibration data e.g. Antenna properties that are due to a technological manufacturing process, be adapted or compensated. This makes it possible to perform at least a partial calibration of the transmitting and / or receiving antenna of the Radarsensorkopfs 100, wherein alternatively, a full calibration of said antennas is possible.
  • the calibration may be good enough for processing steps to detection, but not for angle estimation.
  • the amount of data is advantageously already reduced by the detection.
  • the determination of the calibration data takes place once in the production, whereby the application of the calibration data takes place during the operational operation of the radar sensor head 100.
  • a processing of signals or a suitable control of the antennas can be carried out, whereby a full calibration does not have to be performed by the downstream central control device (not shown).
  • Deviations of the antenna pattern from an ideal antenna pattern can be described by so-called “global calibration matrices” which describe deviations caused by phase and amplitude errors as well as by feedback between the channels (see also FIG.
  • a radar sensor head 100 is realized, whose main function is the radar front end with digitization of the received signal. After the analog-to-digital conversion, the processing can take place with as little effort as possible, wherein the data is transmitted to the central control device 120 with high bandwidth and processed there.
  • the radar sensor head 100 also has a connection 80 to a broadband data line (not shown) via which data is transmitted to the central control device (not shown).
  • FIG. 2 shows a basic block diagram of a radar system 200 for a vehicle realized with the proposed radar sensor head 100.
  • the transformed digital measurement data is transmitted to a central control device 120 via a broadband data line 110.
  • the transmitted digital measured data is assigned a time stamp by means of the first control unit 60 arranged in the radar sensor head 100 and likewise transmitted to the central control device 120. If the signal processing takes place in the central control device 120, then the calibration data must be present there.
  • the calibration data are used by the central control device 120 in the signal processing, for example, by a detection unit 150 arranged there. However, the calibration of the antennas 10, 20 can also take place at least partially in the sensor head 100.
  • the central controller 120 may receive and further process the transmitted digital measurement data, e.g. by means of a memory 130, a transformation unit 140 for performing a Doppler FFT and a second control unit 160, which interacts functionally with the first control unit 60 of the radar sensor head 100.
  • the timestamps transmitted with the measurement data allow them to be precisely timed.
  • the radar system 200 may, for example, be configured as a chirp sequence radar, but may also be operated with other types of modulation.
  • Alternative radar methods may be, for example, slow FMCW radars without a post-Doppler FFT, PN radars (pseudo-noise) with an analyzer as a correlator bank, or an OFDM radar with an analyzer to perform spectral division.
  • the computational effort in the at least one central control device 120 can be reduced.
  • a data volume to be transmitted via the data line 110 can thereby be reduced.
  • the at least one time information can be generated by a first control unit 60 arranged in the radar sensor head 100.
  • the first control unit 60 can, for example, receive and convert 10 transmitted control commands via the data line 110 and provide the digitized measured data with precise time information.
  • the first control unit 60 can be used for controlling the at least one radar sensor head 100 and, for example, for monitoring control or cycle control.
  • the transmitted measurement data from the first control unit 60 must, for example, be timestamped for each Chirp or cycle are added so that the central control device 120 can make good use of the transmitted data from the Radarsensorkopf 100 measurement data.
  • the transmission antenna 10 of the radar sensor head 100 has an oscillator 30 for generating a carrier frequency, wherein the oscillator 30 is adjustable by the second control unit 160 of the central control device 120.
  • the first control unit 60 in the radar sensor head 100 which interacts functionally with the second control unit 160, control of the components of the radar sensor head 100 by the central control device 120 can advantageously be realized.
  • the oscillator or oscillators of the Radarsensorkopfes 100 can be controlled or regulated directly or indirectly.
  • Oscillators of a radar system 200 with at least two radar sensor heads 100 can be synchronized with one another by the central control device 120.
  • a plurality of mutually objected radar sensor heads 100 can be installed and connected in a data-conducting manner to one or more central control devices 120 via data connections.
  • control units 60 in the different radar sensor heads 100, when multiple radar sensor heads 100 are used, the respective oscillators of the transmit antennas 10 can be synchronized with each other. In this way, the accuracy of the measurement results can be advantageously increased. As a result, the driver assistance functions or the automated driving functions of the vehicle can be optimized.
  • Influences of performance can be increased as desired.
  • the central control device 120 has at least one processor for processing received data and at least one memory 130 for at least temporary storage of data. As a result, the central control device 120 can at least temporarily store the measured data transmitted by the data line 110 from the radar sensor head 100 and in accordance with FIG.
  • the central controller 120 may be swapped as needed by a more powerful controller. Since microprocessor technology is preferably used, sophisticated algorithms can be used to process the Measurement data used and thus more accurate calculation results can be achieved.
  • radar sensor heads 100 are connected via corresponding data lines 110 to a central control device 120 (not shown).
  • the central control device 120 outputs control commands via the data lines 110 to the control units 60 of the respective radar sensor heads 100, whereby the different
  • Radar sensor heads 100 and in particular the respective oscillators 30 are optimally matched and synchronized.
  • FIG. 3 shows a basic sequence of a method for producing a radar sensor head.
  • a step 300 provision is made of at least one transmitting antenna 10 for generating and at least one receiving antenna 20 for receiving radar waves.
  • step 310 provision is made of a preprocessing unit 50 for defined preprocessing of received data.
  • step 320 an interface 80 for connecting the radar sensor head 100 to a data line 110 is provided.
  • a provision of a calibration data device 50, 70 for at least partial calibration of the transmitting antenna 10 and / or the receiving antenna 20 is carried out, wherein calibration data for the transmitting antenna 10 and the receiving antenna 20 can be stored by means of the calibration data device 50, 70.

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 une tête de capteur radar (100) pour un système radar, comportant : au moins une antenne émettrice (10) destinée à produire des ondes radar et au moins une antenne réceptrice (20) destinée à recevoir des ondes radar ; une unité de prétraitement (50) destinée à appliquer un prétraitement défini à des données de réception ; une interface (80) destinée à connecter la tête de capteur radar (100) à un câble de données (110) ; et un équipement de données d'étalonnage (50, 70) pour l'étalonnage au moins partiel de l'antenne émettrice (10) et/ou de l'antenne réceptrice (20), des données d'étalonnage pouvant être consignées pour l'antenne émettrice (10) et l'antenne réceptrice (20) au moyen de l'équipement de données d'étalonnage (50, 70).
EP19701189.3A 2018-03-22 2019-01-17 Tête de capteur radar pour un système de radar Pending EP3769107A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018204377.9A DE102018204377A1 (de) 2018-03-22 2018-03-22 Radarsensorkopf für ein Radarsystem
PCT/EP2019/051133 WO2019179669A1 (fr) 2018-03-22 2019-01-17 Tête de capteur radar pour un système de radar

Publications (1)

Publication Number Publication Date
EP3769107A1 true EP3769107A1 (fr) 2021-01-27

Family

ID=65138984

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19701189.3A Pending EP3769107A1 (fr) 2018-03-22 2019-01-17 Tête de capteur radar pour un système de radar

Country Status (8)

Country Link
US (1) US11536802B2 (fr)
EP (1) EP3769107A1 (fr)
JP (1) JP7008838B2 (fr)
KR (1) KR20200135432A (fr)
CN (1) CN111902729A (fr)
DE (1) DE102018204377A1 (fr)
MX (1) MX2020009775A (fr)
WO (1) WO2019179669A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4063895A4 (fr) 2019-11-19 2023-08-02 OMRON Corporation Dispositif radar et système d'étalonnage
GB202205761D0 (en) * 2022-04-20 2022-06-01 Univ Newcastle Verifying the identity of a sensor and/or device

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6121919A (en) * 1999-07-23 2000-09-19 Eaton-Vorad Technologies, L.L.C. Method and apparatus for range correction in a radar system
JP3780904B2 (ja) 2001-10-25 2006-05-31 トヨタ自動車株式会社 レーダ装置
US7170440B1 (en) * 2005-12-10 2007-01-30 Landray Technology, Inc. Linear FM radar
AU2011203222B2 (en) * 2007-08-31 2012-07-19 Raymarine Uk Limited Digital radar or sonar apparatus
US9551777B2 (en) 2012-12-06 2017-01-24 Robert Eugene Stoddard Direction finding using antenna array rotation
CN105247385B (zh) 2013-05-01 2017-08-25 古河电气工业株式会社 雷达系统
FR3012683B1 (fr) 2013-10-29 2017-03-10 Commissariat Energie Atomique Etalonnage d'un reseau d'antennes
EP2881752B1 (fr) * 2013-12-03 2017-05-10 Nxp B.V. Système radar automobile multipuces, puce de radar pour un tel système et procédé permettant de faire fonctionner un tel système
US9835715B2 (en) * 2014-10-17 2017-12-05 Nxp Usa, Inc. Integrated circuit, radar device and method of calibrating a receiver
EP3098623A1 (fr) * 2015-05-25 2016-11-30 Autoliv Development AB Système de radar de véhicule
EP3147685B1 (fr) * 2015-09-22 2020-01-01 Veoneer Sweden AB Système de radar à ouverture synthétique de véhicule
EP3168637A1 (fr) * 2015-11-12 2017-05-17 Autoliv Development AB Radar de véhicule modulaire
US9705611B1 (en) * 2016-03-24 2017-07-11 Rockwell Collins, Inc. Systems and methods for array antenna calibration
US10330773B2 (en) * 2016-06-16 2019-06-25 Texas Instruments Incorporated Radar hardware accelerator

Also Published As

Publication number Publication date
KR20200135432A (ko) 2020-12-02
CN111902729A (zh) 2020-11-06
MX2020009775A (es) 2020-10-12
US11536802B2 (en) 2022-12-27
DE102018204377A1 (de) 2019-09-26
JP2021518540A (ja) 2021-08-02
JP7008838B2 (ja) 2022-01-25
US20200333435A1 (en) 2020-10-22
WO2019179669A1 (fr) 2019-09-26

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