EP4248234A1 - Système radar permettant la surveillance d'au moins une zone, véhicule équipé d' au moins un système radar et procédé pour faire fonctionner un système radar - Google Patents

Système radar permettant la surveillance d'au moins une zone, véhicule équipé d' au moins un système radar et procédé pour faire fonctionner un système radar

Info

Publication number
EP4248234A1
EP4248234A1 EP21815147.0A EP21815147A EP4248234A1 EP 4248234 A1 EP4248234 A1 EP 4248234A1 EP 21815147 A EP21815147 A EP 21815147A EP 4248234 A1 EP4248234 A1 EP 4248234A1
Authority
EP
European Patent Office
Prior art keywords
radar
detection information
sensor
radar system
calibration data
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
EP21815147.0A
Other languages
German (de)
English (en)
Inventor
Christian Sturm
Hamid AFRASIABI VAYGHAN
Tobias Geiger
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren 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 Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP4248234A1 publication Critical patent/EP4248234A1/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
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • 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
    • G01S13/88—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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • 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
    • 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
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
    • 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
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
    • 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
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse 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
    • G01S13/02—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
    • 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

Definitions

  • Radar system for monitoring at least one monitoring area, vehicle with at least one radar system and method for operating a radar system
  • the invention relates to a radar system for monitoring at least one monitoring area, with at least one radar sensor, at least one antenna device for transmitting radar signals and receiving radar echoes, at least one signal type conversion device for converting radar echoes into received signals, at least one sensor signal processing device for processing the received signals to detection information and at least one sensor interface for transferring at least one detection information item to at least one transmission medium, and having at least one central processor which has at least one processor interface for accepting at least one detection information item from at least one transmission medium and at least one central detection information processor for processing detection information items, and having at least one transmission medium, the at least one sensor interface with at least one processor circuit interface functionally connects.
  • the invention also relates to a vehicle with at least one radar system for monitoring at least one monitoring area, the at least one radar system comprising at least one radar sensor, the at least one antenna device for transmitting radar signals and receiving radar echoes, at least one signal type conversion device for converting radar echoes into received signals , at least one sensor signal processing device for processing the received signals into detection information and has at least one sensor interface for transferring at least detection information to at least one transmission medium, and at least one central processor which has at least one processor interface for accepting at least detection information from at least one transmission medium and at least one central detection information processor for processing detection information, and at least one transmission medium, functionally connecting at least one sensor interface to at least one processor interface.
  • the invention also relates to a method for operating a radar system for monitoring at least one monitoring area, in which radar signals are transmitted and radar echoes received with at least one antenna device, radar echoes are converted into received signals with at least one signal type conversion device, the received signals are processed with at least one sensor signal processing device detection information is processed, at least the detection information is transferred to at least one transmission medium with at least one sensor interface, at least the detection information is accepted from the at least one transmission medium with at least one processor interface of at least one central processor, and the detection information is processed with at least one central detection information processor of the at least one central processor are processed.
  • a target determination system is known from EP 3 537 175 A1, which comprises a vehicle sensor, a target angle determination device, a vehicle control device and a drive device, the elements of which can be connected to one another via a vehicle communication path, such as a CAN.
  • the vehicle sensor may include a peripheral sensor that detects a target in the detection area adjacent to the vehicle, such as a radar sensor, a RIDAR sensor, a camera sensor, an infrared sensor, a Ultrasonic sensor or something like that.
  • the radar sensor is operable to transmit a pulse signal in a space around the vehicle, receive a reflection signal reflected at the target, calculate target information such as distance, speed, and angle of the target, and provide the target information to the target angle determination device and the vehicle control device.
  • a radar sensor device capable of calculating the angle of the target within a certain angle detection range of the vehicle will be described as an example.
  • the target angle determination device can determine the angle of the target or a target angle. Specifically, the target angle determining device may determine the angle of the target, which is the angle between the direction of the target in space around the vehicle and the traveling direction of the vehicle.
  • the invention is based on the object of designing a radar system, a vehicle and a method of the type mentioned at the outset, in which the expense, in particular the expense for components and/or the expense for assembly, for realizing the radar system can be reduced.
  • At least one sensor signal processing device has at least one basic detection information determiner for determining non-calibrated basic detection information from received signals and at least one central processor has at least one detection meta information determiner for determining calibrated meta detection information from basic detection information by means of calibration data and at least one calibration data memory for storing calibration data.
  • At least one sensor signal processing device of at least one radar sensor has at least one basic detection information determiner.
  • the at least one basic detection information determiner non-calibrated basic detection information, in particular phase values and/or amplitude values of received signals, is determined from received signals.
  • the target determination system known from the prior art with the Radar sensor calculates calibrated target information such as angles at which a target is relative to the radar sensor.
  • Detection information within the meaning of the invention is information from received signals which can be considered as originating from radar targets.
  • Radar targets are areas of objects where radar signals can be reflected as radar echoes.
  • An object can also have several such radar targets.
  • Signals obtained from received signals using suitable methods and potentially originating from radar targets, in particular local maxima of a power spectrum, can be referred to as potential detections within the meaning of the invention.
  • Detections that are verified to be from radar targets using appropriate methods may be referred to as verified detections.
  • Detection information is information which characterizes positions, in particular directions and/or distances and/or speeds of radar targets relative to one or more reference areas of the radar system, in particular relative to one or more reference points, reference lines and/or reference areas. According to the invention, a distinction is made between non-calibrated basic detection information, which can be determined with at least one radar sensor, and calibrated meta-detection information, which can be determined with at least one central processor.
  • Basic detection information within the meaning of the invention is information about potential radar targets, which can be obtained from the received signals without calibration.
  • Basic detection information includes, in particular, phase values and amplitude values. Phase quantities are quantities that characterize phases. Amplitude quantities are quantities that characterize amplitudes.
  • calibrated meta-detection information is determined by means of at least one detection meta-information determiner of the at least one central processor from non-calibrated basic detection information using calibration data.
  • the basic detection information can be adapted to the individual radar system and output as meta-detection information.
  • Meta-detection information includes in particular directions of radar targets relative to one or more reference areas of the radar system, in particular one or more reference points, reference lines and/or reference surfaces.
  • the directions can be obtained from amplitude values and/or phase values by processing with corresponding calibration data.
  • Directions of radar targets may be given in terms of angles relative to one or more reference axes and/or reference planes relative to the radar system.
  • the directions can in particular be specified in one dimension, in particular either as azimuth or as elevation, or in two dimensions, in particular both as azimuth and as elevation.
  • the detected radar targets can advantageously be characterized more precisely with detection information, in particular basic detection information and/or meta-detection information.
  • detection information in particular basic detection information and/or meta-detection information.
  • object information about the objects to which the radar targets belong can be determined using the detection information from detected radar targets. In this way, objects can be better identified and/or pursued (tracked).
  • the invention has the advantage that no calibration is carried out on the part of the radar sensor and therefore no calibration data are required. Calibration data should be updated and not lost to ensure reliable performance of the radar system. Since no calibration data is required on the part of the radar sensor, the amount of components required in the radar sensor can be kept correspondingly low. Thus, there is no need for programmable non-volatile storage media or storage media with maintenance power consumption for calibration data. Programmable non-volatile storage media are complex and expensive. Programmable storage media with conservation energy consumption must be supplied with energy so that the calibration data is not lost. According to the invention, such a permanent power supply for the radar sensor can be dispensed with. For the radar sensor, it is sufficient to use simpler and/or less expensive storage media, in particular read-only memories.
  • required programmable non-volatile storage media and/or programmable storage media with maintenance energy consumption can be arranged exclusively in the central processor. In this way, the number of required programmable non-volatile storage media and/or programmable storage media with maintenance energy consumption can be significantly reduced overall, as a result of which effort, in particular assembly effort and/or cost effort, can be reduced.
  • the invention has the advantage that only basic detection information is transmitted via the at least one transmission medium. In this way, the amount of data transmitted can be reduced. In this way, the demands on the at least one transmission medium in relation to the data rate can be reduced without the overall performance of the radar system being reduced. Transmission media with simple and inexpensive standard interfaces can be used. In contrast to this, in the target determination system known from the prior art, meta-detection information is already determined in the radar sensor, which must also be transmitted via a vehicle communication path, such as a CAN, for example. In the automotive sector in particular, very high demands are placed on the robustness and reliability of data transmission. On the one hand, transmission media with which high data rates are transmitted are undesirable in the automotive sector because of their susceptibility to failure and/or their cost. On the other hand, the data must be transmitted efficiently, so that with objects can be detected quickly and reliably by the radar system and, if necessary, object information can be generated.
  • a distance, a speed, an amplitude and/or a phase, in particular of all channels, in particular reception channels, in particular virtual reception channels, can advantageously be transmitted from the at least one radar sensor to the at least one central processor using the at least one transmission medium for each particularly verified detection.
  • all detections, in particular target signals can be transmitted from the at least one radar sensor to the at least one central processor.
  • the at least one central processor can have means with which additional information for checking the reliability of the measurement data can be obtained from the totality of the detections, in particular the target signals.
  • other data including different types of data, can be transmitted with the at least one transmission medium.
  • At least one radar system environmental information about the monitored area, in particular the presence of objects in the monitored area and their direction, distance and/or speed relative to one or more reference areas, in particular to one or more reference points, reference lines and/or reference surfaces, of the Radar system, in particular the radar sensor, or optionally a vehicle which has at least one radar system can be determined.
  • At least one processor interface can advantageously have or consist of an output interface.
  • detection information and/or object information obtained with the radar system can be output via the at least one processor interface.
  • the detection information and/or object information can in particular be fed to a control and/or evaluation device, in particular a driver assistance system, for further processing or use.
  • the radar system can advantageously be used in a vehicle, in particular a motor vehicle.
  • the radar system can advantageously be used in a land vehicle, in particular a passenger car, a truck, a bus, a motorcycle or the like, an aircraft, in particular drones, and/or a watercraft.
  • the radar system can also be used in vehicles that can be operated autonomously or at least partially autonomously.
  • the radar system is not limited to vehicles. It can also be used in stationary operation, in robotics and/or in machines, in particular construction or transport machines such as cranes, excavators or the like.
  • At least one radar sensor can advantageously be designed as a MIMO radar sensor. In this way, distances, speeds and directions of objects relative to the radar sensor can be determined more accurately.
  • a MIMO radar sensor has a number of transmission channels and/or a number of reception channels, in particular virtual reception channels.
  • the radar system can advantageously be designed as a near-field-sensing radar system.
  • Near-field-sensing radar systems are relatively simply constructed, particularly inexpensive, radar systems with relatively few transmission and reception channels for the close range, especially at distances of less than 10 m.
  • Near-field-sensing radar systems can be used in vehicles in particular will.
  • functions can be taken over that were previously not performed by radar sensors but by other sensors, in particular ultrasonic sensors or the like, particularly for reasons of cost.
  • a cost-effective architecture for a network with a number of radar sensors, in particular near-field-sensing radar sensors can be implemented.
  • the radar system can advantageously be connected to at least one electronic control device of a vehicle or a machine, in particular a driver assistance system and/or chassis control and/or driver information device and/or a parking assistance system and/or gesture recognition or the like, or be part of such be. In this way, at least one Some of the functions of the vehicle or machine are operated autonomously or semi-autonomously.
  • the radar system can be used to detect stationary or moving objects, in particular vehicles, people, animals, plants, obstacles, bumps in the road, in particular potholes or stones, road boundaries, traffic signs, open spaces, in particular parking spaces, precipitation or the like.
  • gestures and movements of people, particularly in the near field can also be detected with the radar system.
  • At least one radar sensor can have no programmable non-volatile storage medium and no programmable storage medium with maintenance energy consumption.
  • the radar sensor can be built more simply, in particular more cost-effectively, overall.
  • no trickle power supply is required, with which data retention must be ensured in the case of programmable non-volatile storage media with trickle power consumption.
  • calibration data memory can be dispensed with on the part of the radar sensor.
  • Such calibration data memories must be programmable and must not lose their data. This requires either programmable non-volatile storage media, in particular flash memory, or programmable storage media with a permanent power supply.
  • At least one radar sensor can have at least one detection verifier. With the help of a detection verifier, those received signals that belong to radar targets can be verified as detection. At least one detection verifier can be implemented in software and/or hardware. In a further advantageous embodiment, at least one detection verifier can have or consist of at least one signal converter and/or at least one detection threshold checker. In this way, received signals can be verified as detections originating from radar targets.
  • the received signals can be converted into received variables, in particular power spectra, which allow simpler further processing.
  • At least one signal converter can advantageously have means with which received signals can be subjected to at least one fast Fourier transformation.
  • detection threshold value checkers received signals or received variables determined therefrom, in particular power spectra, can be compared with threshold values. Reception quantities, in particular local maxima of the power spectrum, which are in particular greater than corresponding threshold values, can be verified as detections which belong to radar targets.
  • At least one detection basic information determiner can have at least one phase determiner for determining phase values from received signals and/or at least one amplitude determiner for determining amplitude values from received signals and/or at least one distance value determiner for determining of distance quantities which characterize distances from radar targets, and/or at least one speed quantity determiner for determining speed quantities which characterize speeds of radar targets relative to the at least one radar sensor.
  • basic detection information can be determined from the received signals without the aid of calibration data.
  • the basic detection information can advantageously be phase values and/or amplitude values of the received signals, in particular of the power spectrum determined from the received signals. Additionally or alternatively, the basic detection information can be distance variables and/or speed variables, which can be determined from the received signals without calibration.
  • At least one radar sensor can advantageously have one or more of the following modules, in particular signal processing modules: at least one transformation module for determining distance variables, in particular using fast Fourier transformations and/or at least one transformation module for determining speed variables, in particular Doppler variables, in particular using fast Fourier -Transformations and/or at least one combined transformation module for determining distance-velocity quantities, in particular range-Doppler spectra, in particular with the aid of fast Fourier transformations; at least one near-range leakage compensation (NRLC) module for compensating for direct couplings between transmitting antennas and receiving antennas of the at least one antenna device; at least one calculation module for calculating a power spectrum across all transmitting antennas and receiving antennas of the at least one antenna device, in particular as a starting point for determining detections; at least one detection threshold calculation module, in particular for calculating a constant false alarm rate (constant-alert-false-rate (CFAR)); at least one detection module with which detections, in particular local maxima in a power
  • At least one sensor interface, at least one processor interface and at least one transition medium Be part of at least one data bus system.
  • an efficient data bus system can be implemented.
  • data can be efficiently transmitted between the at least one radar sensor and the at least one central processor.
  • At least one data bus system can advantageously be a CAN bus system, a CAN FD bus system or the like.
  • CAN bus systems and CAN FD bus systems can be implemented in a cost-effective and weight-saving manner.
  • CAN bus systems and CAN FD bus systems are standardized and can thus be used flexibly, particularly in connection with motor vehicles.
  • At least one signal type conversion device can have at least one high-frequency component for generating radar signals and/or for receiving radar echoes and/or at least one analog/digital converter for converting analog electrical signals determined from the radar echoes into digital received signals exhibit.
  • radar echoes in the form of electromagnetic waves can be converted into digital reception signals.
  • Digital received signals can be processed digitally with an electrical sensor signal processing device.
  • the at least one radar sensor can advantageously have an analog/digital converter for each reception channel. In this way, the signals for each receiving channel can be converted separately.
  • At least one detection meta information determiner can have or consist of at least one direction determiner for determining calibrated direction variables from basic detection information using direction calibration data.
  • directions of potential radar targets relative to the at least one radar sensor can be determined on the part of the at least one central processor from basic detection information using calibration data.
  • At least one direction finder can advantageously be an angle finder, with which calibrated direction variables can be determined in the form of angles. Angles can be used to define directions of radar targets relative to the radar sensor.
  • the direction calibration data can be present in the form of angle calibration data.
  • directional quantities in the form of angles can be calibrated more efficiently.
  • the direction calibration data can advantageously be stored in at least one calibration data memory. In this way, the direction calibration data can be accessed more efficiently for processing in the central processor.
  • At least one central processor can have at least one central processor controller for controlling the central processor and/or for monitoring and/or updating calibration data in the at least one calibration data memory.
  • the central processor can be controlled and monitored.
  • the calibration data in the calibration data memory can be checked offline or online and, if necessary, updated.
  • At least one central processor can have one or more of the following modules: at least one direction determination module, in particular for determining angles, in particular at least one Direction-of-Amval-Estimation (DOAE) module, for determining directional values, in particular angles, of a radar target in one spatial dimension or in two spatial dimensions taking into account the calibration data; at least one infrastructure classification module (INFC) for determining the infrastructure classification on the basis of the previously determined directional variables, in particular angles, and the vehicle's own speed with the radar system, which is known in particular in the at least one central processor; at least one monitoring and updating module, in particular an auto-alignment-and-self-calibration module (AASC), for monitoring and updating a camera libration of the direction determination, in particular angle determination, in particular the calibration data for the direction determination, which are stored in at least one calibration data memory of the at least one central processor.
  • at least one direction determination module in particular for determining angles
  • DOAE Direction-of-Amval-Estimation
  • IFC infrastructure classification module
  • the transmitted data from all or part of the radar sensors connected to the central processor can be processed with the at least one central processor, in particular with one or more of the modules of the at least one central processor.
  • the radar system can have a number of radar sensors. In this way, a correspondingly larger monitoring area and/or several monitoring areas can also be monitored simultaneously.
  • the respective basic detection information from the radar sensors can be transmitted to the at least one central processor via the at least one transmission medium. With the at least one central processor, the individual basic detection information and the meta-detection information obtained therefrom can be combined to form an overall picture of the environment.
  • a plurality of radar sensors can advantageously be connected to at least one central processor via a common transmission medium, in particular a common bus system. In this way, the amount of transmission media required can be reduced.
  • the object is achieved according to the invention in the vehicle in that at least one sensor signal processing device has at least one basic detection information determiner for determining non-calibrated basic detection information from received signals and at least one central processor has at least one detection meta information determiner for determining calibrated meta detection information from basic Detection information using calibration data and at least one calibration data memory for storing calibration data.
  • the vehicle can have a driver assistance system.
  • functions of the vehicle can be operated autonomously or partially autonomously.
  • the driver assistance system can advantageously be functionally connected to the at least one radar system. In this way, environmental information obtained with the at least one radar system can be used by the driver assistance system to operate the functions of the vehicle.
  • non-calibrated basic detection information is determined from received signals with at least one detection basic information determiner of at least one sensor signal processing device, with at least one detection meta information determiner of at least one central processor calibrated meta-detection information from basic detection information are determined by means of calibration data, the calibration data being taken from at least one calibration data memory of the at least one central processor.
  • the first steps of signal processing are carried out in the at least one radar sensor.
  • this can be at least a fast Fourier transformation, threshold value calculations, verification of detections, determination of the distance and/or speed of radar targets.
  • basic detection information can be determined according to fixed programs without calibration data.
  • the determination of the meta-detection information, in particular direction variables, in particular angles, which require calibration data only takes place in the at least one central processor.
  • the required calibration data are stored in at least one calibration data memory of the at least one central processor.
  • the amplitude values and phase values of the received signal can be determined as basic detection information in the radar sensor for each receiving channel.
  • the amplitude values and phase values of the received signal can be determined as basic detection information for each virtual reception channel.
  • the detections can advantageously be verified in the at least one radar sensor. It can be checked whether a detection variable, in particular a local maximum of a power spectrum obtained from at least one received signal, is above a corresponding detection threshold. If this is the case, then the corresponding detection is verified, that is to say it is regarded as belonging to a radar target.
  • only the basic detection information of verified detections can be transmitted via the transmission medium. In this way, the amount of data to be transmitted can be reduced.
  • the method can advantageously be implemented using software and/or hardware.
  • FIG. 1 shows a top view of a vehicle with a driver assistance system and a radar system for monitoring the surroundings of the vehicle;
  • FIG. 2 shows a side view of the vehicle from FIG. 1;
  • FIG 3 is a functional representation of the radar system of the vehicle from Figures 1 and 2.
  • FIG. 1 shows a vehicle 10 in the form of a passenger car in a plan view.
  • FIG. 2 shows the vehicle 10 in a side view.
  • the vehicle 10 has a radar system 12 with, for example, four radar sensors 14 and a central processor 16.
  • the four radar sensors 14 are arranged, for example, at the four corners of the vehicle 10.
  • the surroundings 18 of the vehicle 10 can be monitored for objects 20 with the radar system 12 .
  • the respective monitoring areas 22 of the radar sensors 14 overlap, so that overall the surroundings 18 around the vehicle 10 can be monitored together with the radar sensors 14 .
  • the radar sensors 14 can also be arranged at other locations on the vehicle 10 and aligned differently. More or fewer than four radar sensors 14 can also be provided.
  • the radar system 12 can be used to determine object information, for example distances r, speeds and directions, for example in the form of the azimuth ⁇ p and the elevation 0, of radar targets 24 of objects 20 relative to the vehicle 10 or to the radar system 12.
  • Radar targets 24 of an object 20 are areas of the object 20 at which radar signals 26 are reflected and can be sent back as radar echoes 28 .
  • An object 20 can also have multiple radar targets 24 .
  • the objects 20 can be stationary or moving objects, for example other vehicles, people, animals, plants, obstacles, bumps in the road, for example potholes or stones, lane boundaries, traffic signs, free spaces, for example parking spaces, precipitation or the like.
  • the radar system 12 is a so-called near-field-sensing (NFS) radar system, with which extremely precise two-dimensional directional measurements, for example angle measurements of the azimuth ⁇ p and the elevation 0, can be carried out with comparatively little outlay on components and costs.
  • NFS near-field-sensing
  • the radar system 12 is connected to a driver assistance system 30 .
  • the vehicle 10 can be operated autonomously or partially autonomously with the driver assistance system 30 .
  • Radar system 12 is shown in FIG. 3 with two of the four radar sensors 14 as an example.
  • the radar sensors 14 are constructed identically, for example.
  • One of the radar sensors 14 is described below as an example.
  • the radar sensor 14 is configured as a MIMO radar sensor, for example.
  • the radar sensor 14 has, for example, an antenna device 32 with two transmitting antennas Tx with corresponding transmitting channels and 3 receiving antennas Rx with corresponding receiving channels, or virtual receiving channels.
  • the antenna device 32 is connected to a signal type conversion device 34 .
  • the signal type conversion device 34 includes a high-frequency component 36 and a plurality of analog-to-digital converters 38.
  • the number of analog-to-digital converters 38 corresponds to the number of reception channels or virtual reception channels. Only three of the analog/digital converters 38 are shown in FIG. 3 as an example.
  • transmission signals are generated, which are transmitted with the transmission antennas Tx as radar signals 26 in the monitoring range 22 of the radar sensor 14.
  • the radar signals 26 are reflected from objects 20 at corresponding radar targets 24 and as Radar returns 28 sent back.
  • the radar echoes 28 that impinge on the receiving antennas Rx of the radar sensor 14 are converted into electrical received signals with the aid of the signal type conversion device 34 .
  • the received signals are fed to a sensor signal processing device 40 of radar sensor 14 .
  • the sensor signal processing device 40 has a basic detection information determiner 42 with which non-calibrated basic detection information is determined from the received signals.
  • the sensor signal processing device 40 has a sensor interface 44 in the form of a CAN interface.
  • the basic detection information includes amplitudes and phases of detections, which are determined from the received signals and verified as belonging to radar targets 26 .
  • the basic detection information also includes sensor-related distance variables and sensor-related speed variables, which characterize the distances and speeds of the detected radar targets 28 relative to the corresponding radar sensor 14 .
  • the basic detection information is determined without calibration. No calibration data are stored in the radar sensor 14 itself.
  • the detection basic information determiner 42 includes a transformation module in the form of a range FFT module 46. With the range FFT module 46, a corresponding distance matrix is determined from the received signals with the aid of fast Fourier transformations.
  • the detection basic information determiner 42 includes a near-range leakage compensation module 48.
  • the near-range leakage compensation module 48 compensates for direct couplings between the transmitting antennas Tx and the receiving antennas Rx.
  • the sensor signal processing device 40 includes a further transformation module in the form of a Doppler FFT module 50.
  • a Doppler FFT module 50 With the Doppler FFT module 50, a corresponding speed matrix is determined from the received signals with the aid of fast Fourier transformations.
  • the detection basic information determiner 42 includes a signal converter 52 in the form of a calculation module with which a power spectrum is calculated over all transmission antennas Tx and all reception antennas Rx as a starting point for determining detections. Detections are local maxima in the power spectrum, which can potentially be assigned to radar targets 24 . Since not all local maxima can necessarily be assigned directly to radar targets 24, the detections must be verified, as described below.
  • the detection basic information determiner 42 includes a detection threshold calculation module 54.
  • the detection threshold calculation module 54 calculates a constant false alarm rate for the detection threshold.
  • the detection threshold is the threshold above which detections can be verified as being from radar targets 24 .
  • a noise power in the power spectrum can be determined as a detection threshold.
  • the detection base information determiner 42 includes a detection threshold checker 56 in the form of a detection module.
  • the detection threshold checker 56 verifies local maxima in the power spectrum above the detection threshold of detections originating from the radar targets 24 .
  • the detection threshold checker 56 is used to determine the basic detection information associated with the corresponding verified detections, namely the distance quantities, velocity quantities, amplitudes and phases for all receiving channels. To determine the amplitudes, the detection threshold checker 56 has an amplitude determiner. In order to determine the phases, the detection threshold checker 56 has a phase determiner. Furthermore, the detection threshold checker 56 has a distance variable determiner for determining the distance variables and a speed variable determiner for determining the speed variables.
  • the signal converter 52 and the detection threshold checker 56 are parts of a detection verifier.
  • the basic detection information is transmitted to the sensor interface 44 and from there to data lines 57 .
  • the sensor interfaces 44 of all radar sensors 14 and the data lines 57 are part of a data bus system in the form of a CAN bus system 58.
  • the basic detection information is transmitted with the data lines 57 from the sensor interfaces 44 of the radar sensors 14 to a processor interface 60 of a central processor 62.
  • the processor interface 60 is also part of the CAN bus system 58.
  • the central processor 62 is part of the radar system 12 and is connected to all four radar sensors 14 .
  • the central processor 62 includes a central detection information processor 64.
  • the central detection information processor 64 comprises a detection meta information determiner 66 in the form of a direction determination module. Furthermore, the central detection information processor 64 includes an infrastructure classification module 70.
  • the detection meta information determiner 66 is used to determine calibrated meta detection information from the calibrated base detection information of the radar sensors 14 .
  • the calibrated meta-detection information includes the directions of detected radar targets 26 relative to the vehicle 10, or relative to a vertical reference axis and a horizontal reference axis, in particular a longitudinal axis of the vehicle 10. The directions are exemplified in two spatial dimensions with the angles azimuth ⁇ p and elevation 0 specified.
  • the meta-detection information also includes the distances r from detected radar targets 26 relative to the vehicle 10, or relative to one or more reference points of the vehicle 10 -Arrival Estimation (DOAE) modules".
  • DOAE -Arrival Estimation
  • the calibration data were determined beforehand, for example at the end of a production line for the vehicle 10 .
  • the calibration data is stored in a calibration data memory 68 of the central processor 62.
  • the calibration data memory 68 is is a programmable non-volatile memory, for example a flash memory.
  • An infrastructure classification is determined with the infrastructure classification module 70 on the basis of the previously determined directions of the detected radar targets 24 and the vehicle's own speed 10 .
  • the speed of the vehicle 10 may be present in the at least one central processor 62, for example.
  • the central processor 64 includes a central processor controller 72.
  • the central processor controller 72 includes a monitoring and updating module.
  • the calibration of the direction determination is monitored and updated with the monitoring and updating module.
  • the calibration data for the direction determination which are stored in the calibration data memory 68, are monitored and updated.
  • the monitoring and updating module can also be referred to as the "auto-alignment-and-self-calibration module (AASC)".
  • the central processor 62 includes an output interface 74.
  • the calibrated directions in azimuth ⁇ p and elevation 0, distances r and speeds of the detected radar targets 24 relative to one or more reference points and/or reference axes of the vehicle 10 are sent to the driver assistance system 30 via the output interface 74 transmitted.
  • the output interface 74 and a corresponding interface of the driver assistance system 30 can also be part of the CAN bus system 58 .
  • the output interface 74 and the driver assistance system 30 can also be connected to one another via their own transmission medium.

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  • 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 (12) permettant la surveillance d'au moins une zone, un véhicule équipé d'un système radar (12) et un procédé pour faire fonctionner un système radar (12). Le système radar (12) comporte au moins un capteur radar (14) qui est constitué d'au moins un système d'antennes (32) destiné à émettre des signaux radar et à recevoir des échos radar, d'au moins un dispositif de transformation du type de signal (34), d'au moins un dispositif de traitement de signal de capteur (40) et d'au moins une interface de capteur (44). Le système radar (12) comprend en outre au moins un processeur central (62) qui comprend au moins une interface de processeur (60) et au moins une unité de traitement d'informations de détection centrale (64). En outre, le système radar (12) comprend au moins un moyen de transmission (57) qui relie fonctionnellement au moins une interface de capteur (44) à au moins une interface de processeur (60). Au moins un dispositif de traitement de signal de capteur (40) comprend au moins une unité de détermination d'informations de base de détection (42) destinée à déterminer des informations de détection de base non calibrées à partir de signaux de réception. Au moins un processeur central (62) comprend au moins une unité de détermination de méta-informations de détection (66) destinée à déterminer des méta-informations de détection calibrées à partir d'informations de détection de base au moyen de données de calibrage et au moins une mémoire de données de calibrage (68) pour le stockage de données de calibrage.
EP21815147.0A 2020-11-17 2021-11-16 Système radar permettant la surveillance d'au moins une zone, véhicule équipé d' au moins un système radar et procédé pour faire fonctionner un système radar Pending EP4248234A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020130266.5A DE102020130266A1 (de) 2020-11-17 2020-11-17 Radarsystem zu Überwachung wenigstens eines Überwachungsbereichs, Fahrzeug mit wenigstens einem Radarsystem und Verfahren zum Betreiben eines Radarsystems
PCT/EP2021/081757 WO2022106376A1 (fr) 2020-11-17 2021-11-16 Système radar permettant la surveillance d'au moins une zone, véhicule équipé d'au moins un système radar et procédé pour faire fonctionner un système radar

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EP4248234A1 true EP4248234A1 (fr) 2023-09-27

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EP (1) EP4248234A1 (fr)
CN (1) CN116601526A (fr)
DE (1) DE102020130266A1 (fr)
WO (1) WO2022106376A1 (fr)

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Publication number Priority date Publication date Assignee Title
US6707419B2 (en) * 2000-08-16 2004-03-16 Raytheon Company Radar transmitter circuitry and techniques
US10114106B2 (en) 2016-07-22 2018-10-30 Delphi Technologies, Inc. Automated vehicle radar system with auto-alignment for azimuth, elevation, and vehicle speed-scaling-error
US10656245B2 (en) 2017-09-05 2020-05-19 Valeo Radar Systems, Inc. Automotive radar sensor blockage detection using adaptive overlapping visibility
KR102192436B1 (ko) 2018-03-05 2020-12-16 주식회사 만도 레이다 기반의 타겟 각도 결정 장치 및 방법
DE102018205125A1 (de) * 2018-04-05 2019-10-10 Robert Bosch Gmbh Radarsensorkopf für ein Radarsystem
US10205457B1 (en) 2018-06-01 2019-02-12 Yekutiel Josefsberg RADAR target detection system for autonomous vehicles with ultra lowphase noise frequency synthesizer

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CN116601526A (zh) 2023-08-15
WO2022106376A1 (fr) 2022-05-27

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