EP4402512A1 - Procédé pour déterminer au moins une grandeur d'élévation d'une zone cible d'un objet au moyen d'un système radar de véhicule automobile - Google Patents

Procédé pour déterminer au moins une grandeur d'élévation d'une zone cible d'un objet au moyen d'un système radar de véhicule automobile

Info

Publication number
EP4402512A1
EP4402512A1 EP22783479.3A EP22783479A EP4402512A1 EP 4402512 A1 EP4402512 A1 EP 4402512A1 EP 22783479 A EP22783479 A EP 22783479A EP 4402512 A1 EP4402512 A1 EP 4402512A1
Authority
EP
European Patent Office
Prior art keywords
radar system
directional
variable
elevation
radar
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
EP22783479.3A
Other languages
German (de)
English (en)
Inventor
Alexander Vanaev
Waqas MALIK
Christian Sturm
Stefan Goerner
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 EP4402512A1 publication Critical patent/EP4402512A1/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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • 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
    • G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

  • the invention relates to a method for determining at least one elevation variable of an object target of an object, which is detected by a radar system, in particular of a vehicle, with respect to an elevation reference plane, in which radar signals are transmitted with the radar system and echo signals from radar signals reflected on the object target are received speed of movement of the radar system is determined, a radial speed of the at least one object target relative to the radar system is determined with the radar system using the received echo signals, a first directional variable is determined with the radar system using the received echo signals, which indicates the direction of the object target relative to a first opposite the Radar system fixed reference area characterized, by means of the first directional variable, the radial velocity and the rate of movement, a second directional variable, which indicates the direction of the object target relative to a second characterized by a fixed reference range compared to the radar system, at least one elevation variable of the object target is determined by means of at least one of the directional variables.
  • the invention also relates to a radar system, in particular of a vehicle, comprising at least one antenna for transmitting radar signals, at least one antenna for receiving echo signals from radar signals reflected from object targets, and means for determining at least one elevation variable of object targets detected with the radar system, with respect to an elevation -Reference plane, the means having
  • Means for determining radial velocities of detected object targets relative to the radar system by means of received echo signals Means for determining first directional variables, which characterize directions of object targets relative to a first reference area that is fixed relative to the radar system, by means of received echo signals
  • Means for determining second directional variables which characterize directions of object targets relative to a second fixed reference area relative to the radar system, using first directional variables, radial speeds and a speed of movement of the radar system, and means for determining at least one elevation variable of object targets using at least one of the directional variables.
  • the invention also relates to a vehicle with at least one radar system, the at least one radar system comprising at least one antenna for transmitting radar signals, at least one antenna for receiving echo signals from radar signals reflected from object targets, and means for determining at least one elevation variable of object targets detected with the radar system of objects with respect to an elevation reference plane, the means having
  • Means for determining second directional variables which characterize directions of object targets relative to a second fixed reference area relative to the radar system, using first directional variables, radial speeds and a speed of movement of the radar system, and means for determining at least one elevation variable of object targets using at least one of the directional variables.
  • a method for radar-based measurement and/or classification of objects in a vehicle environment is known from DE 10 2018 000 517 A1, the vehicle environment being analyzed by means of at least one arranged on a vehicle Radar sensor is detected and in a determination and / or classification of a height of an object based on an evaluation of a shift in a Doppler frequency between a transmitted from the radar sensor and a radar signal reflected from the object Doppler information is generated.
  • the height of the object can be determined by using the previously determined information about the azimuth angle of the object together with the received Doppler information to accurately calculate the elevation angle.
  • the object's azimuth angle is determined by digital beamforming to multiple horizontal antennas of the radar sensor. Once the elevation angle of the object is calculated, the height of the object can be found from the elevation angle of the object and the radial distance from the radar sensor to the object as given in an equation.
  • the invention is based on the object of designing a method, a radar system and a vehicle of the type mentioned at the outset, in which the determination of at least one elevation variable of a detected object target with respect to an elevation reference plane can be implemented more efficiently.
  • the at least one elevation variable should be able to be determined more precisely and/or more simply, in particular using simpler and/or space-saving means.
  • the object is achieved according to the invention in the method in that radar signals are transmitted with at least one antenna of the radar system and echo signals are received with at least two antennas of the radar system, the respective phase centers of the antennas being arranged along an imaginary antenna axis which is parallel to the elevation reference plane runs, the first directional variable is determined relative to a first reference axis which is fixed relative to the radar system as a reference range and the second directional variable is determined relative to a second reference axis which is fixed relative to the radar system as a reference range.
  • the first directional variable and the second directional variable are each determined relative to an associated reference axis.
  • the directional variables can be determined with a one-dimensional, linear antenna arrangement.
  • a two-dimensional, flat antenna arrangement is not required for this.
  • a two-dimensional, planar antenna arrangement is required. The invention makes it possible to determine at least one elevation variable with respect to the elevation reference plane of an object target using a space-saving and simply designed linear antenna arrangement.
  • the elevation reference plane runs horizontally.
  • the azimuth lies in a plane which is parallel to the elevation reference plane or is the elevation reference plane.
  • An azimuth reference plane, with respect to which the azimuth is defined, is perpendicular to the elevation reference plane.
  • the radial speed of an object target is the relative speed between the object target and the radar system in the direction of an imaginary connecting axis between the object target and a reference point of the radar system.
  • the reference point of the radar system can advantageously be the intersection of the at least two reference axes.
  • the reference point in particular the point of intersection of the at least two reference axes, or the projection of the reference point in the direction perpendicular to the elevation reference plane can advantageously lie between phase centers of the antennas, in particular on an imaginary antenna axis of the radar system.
  • the reference point in particular the point of intersection of the at least two reference axes, can lie on a plane which is defined by the contact areas of the wheels of the vehicle on the ground.
  • the reference system with the reference axes for the directional variables must be oriented to the roadway of the vehicle.
  • the speed of travel of the radar system is the speed at which the radar system moves in space.
  • the rate of advance of the radar system may advantageously be the rate of advance of the vehicle.
  • the speed of travel may be expressed as ground speed or the like.
  • the locomotion speed can be determined with a speed measuring system, in particular of the vehicle.
  • the method is used to determine at least one elevation variable of an object target with respect to an elevation reference plane.
  • An elevation variable can advantageously be an elevation height.
  • an elevation variable can be an elevation angle.
  • the elevation height is the distance between the object target and the elevation reference plane.
  • the elevation angle is the angle between the imaginary connecting axis between the object target and the reference point of the radar system on the one hand and the elevation reference plane on the other.
  • the azimuth of an object target can be determined with the method. In this way, both at least one elevation variable and the azimuth can be determined more precisely with the method.
  • the elevation height of an object target can be determined with the invention, which object is located in front of the vehicle in particular in the direction of travel.
  • a driver assistance system of the vehicle can be used in particular to determine whether the object target is arranged so low that the vehicle can drive over it, or whether the object target is arranged so high that the vehicle can drive under the object target.
  • the azimuth of a detected object target can be determined with radar systems which only have a linear arrangement of a plurality of antennas, in particular transmitting antennas and receiving antennas.
  • the azimuth can be assumed based on a phase shift of echo signals. the.
  • the echo signals are recorded with different receiving antennas.
  • the azimuth can only be precisely determined with such a radar system if the object target has the same elevation height as the phase centers of the antennas, in particular of the receiving antennas. If the object target is at a different elevation than the antennas, the azimuth will be determined inaccurately.
  • configurations of transmitting antennas and receiving antennas arranged in a planar manner are usually used. In this case, additional transmission channels and reception channels are required, with which only the determination of the elevation variables is carried out. This increases the complexity and cost of the radar systems used. This can be dispensed with in the invention.
  • distances and directions of object targets relative to the radar system, in particular relative to the vehicle can be determined in a two-dimensional plane.
  • the object target can be characterized in a three-dimensional space by precisely determining the at least one elevation variable.
  • the invention makes it possible to create a complete three-dimensional map of the surroundings of the radar system, in particular of the vehicle.
  • the invention makes it possible to improve both the determination of the azimuth and the determination of at least one elevation variable with a one-dimensional, linear antenna arrangement, without requiring additional antennas, in particular antennas arranged over an area, in particular receiving antennas.
  • the radar system can advantageously be used in vehicles, in particular motor vehicles.
  • the radar system can advantageously be used in land vehicles, in particular passenger cars, trucks, buses, motorcycles or the like, aircraft, in particular drones, and/or water vehicles.
  • 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.
  • 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 a chassis control system and/or a driver information device and/or a parking assistance system and/or a gesture recognition system or the like, or be part of one. In this way, at least some of the functions of the vehicle or machine can be carried out autonomously or partially autonomously.
  • the first directional variable can be determined from phase shifts between echo signals of the same radar signal received with different antennas. In this way, the first directional variable can be determined more precisely.
  • the second directional variable can be calculated from a mathematical, in particular trigonometric, relationship with the first directional variable, the radial speed and the locomotion speed, in particular a second directional variable in the form of a second directional angle as the arcsine of the quotient of the radial speed and the product of the locomotion speed and the cosine of a first directional quantity are calculated in the form of a first directional angle.
  • the second directional variable can be calculated more precisely from variables that have already been determined, in particular the first directional variable, the radial speed and the forward movement speed.
  • the second directional variable can thus be individually determined more precisely. Corresponding conversion tables are not required for this.
  • the second directional variable can be calculated in the form of a second directional angle as the arcsine of the quotient of the radial speed and the product of the locomotion speed and the cosine of the first directional variable in the form of a first directional angle.
  • directional variables can be calculated directly in the form of directional angles.
  • the second directional variable can be taken from a conversion table which contains assignments of first directional variables, second directional variables, radial speeds and velocities of locomotion, in particular a second directional variable can be taken from a conversion table corresponding to the respective locomotion speed, which second directional variables are converted as a function of contains first directional variables and radial velocities.
  • a second directional variable can be taken from a conversion table corresponding to the respective locomotion speed, which second directional variables are converted as a function of contains first directional variables and radial velocities.
  • the at least one conversion table can be determined in advance, in particular in the course of a calibration of the radar system, in particular at the end of the production line for the radar system or possibly the vehicle, and stored in a corresponding storage medium of the radar system, in particular a control and evaluation device.
  • a conversion table can be provided for different travel speeds, which contains the relationships between first directional variables, second directional variables and radial speeds for the respective travel speed.
  • the appropriate conversion table can be used depending on the respective travel speed.
  • the conversion table can have a plurality of triples, each with a first directional variable, a radial speed and the corresponding second directional variable.
  • Triples can be stored, in particular stored, easily, in particular by means of software technology.
  • the first directional variable and the second directional variable can be implemented in the form of angles. On In this way, the at least one elevation variable and/or azimuth of the detected object target can be determined more easily.
  • the two reference axes can be specified in such a way that they span a plane which extends parallel to or in the elevation reference plane.
  • the reference system for the directional variables and the reference system for the at least one elevation variable and the azimuth can have a common orientation. In this way, the at least one elevation variable and/or the azimuth can be determined more easily from the directional variables.
  • the method for determining at least one elevation variable for this object target is ended, otherwise the method for determining at least one elevation variable is continued become.
  • only stationary object targets are used to determine at least one elevation variable.
  • the at least one elevation variable can be determined more precisely using stationary object targets.
  • the end of the method for determining at least one elevation variable of an object target it can be started again with a different object target.
  • a difference between the radial speed and the product of the locomotion speed with the cosine of the first directional variable can be formed, the difference can be compared with at least one limit value, and depending on the result of the comparison, it can be assumed that the object target is stationary and the method for determining the at least one elevation variable is continued, otherwise the method for this object target is ended and/or the difference is compared with two specified limit values and, if the difference is between the two limit values, it is assumed that the object target is stationary and the method for determining the at least one elevation variable is continued, otherwise the method for this object target is ended.
  • a speed of an object target in space can be determined mathematically, in particular trigonometrically, taking into account the speed of movement, the radial speed and the first directional variable.
  • the difference between the radial velocities, the product of the locomotion velocity and the cosine of the first directional variable can be compared with at least one limit value and, depending on the result of the comparison, it can be assumed that the object target is stationary. It can be assumed that the object target is stationary if the difference is less than or less than/equal to the limit value. Alternatively or additionally, the object target may be assumed to be stationary if the difference is greater than or greater than/equal to the threshold.
  • the two limit values can advantageously have different signs. In this way, movement of the object target in the direction of the radar system can be provided with a limit value with a different sign than movement of the object target away from the radar system.
  • the two limit values can be specified in such a way that possible movements of the detected object target can be determined within a tolerance, in particular a measurement tolerance of the radar system and/or for the speed of movement.
  • the at least one elevation variable and/or the azimuth of the object target can be calculated using the first directional variable and the second directional variable and/or taken from at least one conversion table.
  • the determined directional variables can be transformed into the at least one elevation variable and/or into the azimuth with less effort.
  • the at least one elevation variable and/or the azimuth of the object target can advantageously be calculated from the first directional variable and the second directional variable.
  • a mathematical, in particular trigonometric, relationship can be used for this purpose.
  • ⁇ is a first directional variable in the form of a directional angle
  • ⁇ is a second directional variable in the form of a directional angle
  • R is a distance of the object target from the radar system
  • h is the elevation height
  • a distance of the object target can advantageously be determined with the radar system. In this way, all variables that relate to the object target and that are required to determine the at least one elevation variable can be determined with a single radar measurement.
  • the at least one elevation variable and/or the azimuth can be taken from at least one conversion table. In this way, the at least one elevation variable and/or the azimuth can be determined more quickly without additional computing effort.
  • triplets with possible elevation variables and respective first directional variables and second directional variables can be stored in the at least one conversion table.
  • the at least one conversion table can be determined in advance, in particular in the course of a calibration of the radar system, in particular at the end of the production line, and stored in a corresponding storage medium, in particular in the radar system.
  • the object is achieved according to the invention in the radar system in that the radar system has at least one antenna with which radar signals can be transmitted, and at least two antennas with which echo signals from radar signals reflected on an object target can be received, the respective phase centers of the antennas being arranged along an imaginary antenna axis which runs parallel to the elevation reference plane , a first reference axis fixed with respect to the radar system as a reference range for the first directional variable and a fixed second reference axis as a reference range for the second directional variable.
  • the antennas of the radar system are arranged linearly along the imaginary antenna axis.
  • the antenna arrangement can be designed in a space-saving and simple manner.
  • the antenna arrangement can be oriented in a defined manner with respect to the elevation reference plane. In this way, the at least one elevation variable can be determined more easily.
  • the radar system has a fixed first reference axis and a fixed second reference axis, which serve as reference ranges for the first directional variable and the second directional variable.
  • the object is achieved according to the invention in the vehicle in that the at least one radar system has at least one antenna with which radar signals can be sent and at least two antennas with which echo signals from radar signals reflected on an object target can be received, the respective phase centers of the antennas are arranged along an imaginary antenna axis which runs parallel to the elevation reference plane, a fixed first reference axis with respect to the at least one radar system as a reference range for the first directional variable and a fixed second reference axis as a reference range for the second directional variable.
  • At least one of the reference axes can be aligned with at least one defined imaginary axis of the vehicle, in particular a vehicle longitudinal axis, a vehicle transverse axis and/or a vehicle vertical axis, and/or a direction of travel axis of the vehicle.
  • the information obtained with the at least one radar system can be used more simply as environmental information for the vehicle.
  • the vehicle can advantageously have at least one driver assistance system. With the help of a driver assistance system, the vehicle can be operated autonomously or semi-autonomously.
  • At least one radar system can advantageously be functionally connected to at least one driver assistance system.
  • information about the environment of the vehicle which is obtained with the at least one radar system, can be used by the at least one driver assistance system for autonomous or semi-autonomous operation of the vehicle.
  • At least one radar system can be an in particular integral part of a driver assistance system and/or an automated driving system of the vehicle.
  • Radar systems have the advantage that radial velocities of detected object targets can be determined directly with them.
  • FIG. 1 shows a front view of a vehicle with a radar system for monitoring a monitoring area in front of the vehicle in the direction of travel, a driver assistance system and a shouted measuring system
  • FIG. 2 shows a three-dimensional representation of a driving situation of the vehicle from FIG. 1 with a Cartesian coordinate system that is fixed with respect to the radar system, with an object in front of the vehicle, with the vehicle only not being indicated in perspective in a side view;
  • FIG. 3 shows a front view of an antenna arrangement of the radar system from FIG. 1 with a control and evaluation device, the driver assistance system and the speed measurement system;
  • FIG. 4 shows a three-dimensional representation of the Cartesian coordinate system from FIG. 2 from a different perspective in relation to a spherical representation
  • FIG. 5 shows a conversion table for determining a second directional angle for an object target from a first directional angle and a radial speed of the object target.
  • FIG. 1 shows a front view of a vehicle 10 in the form of a passenger car.
  • the vehicle 10 includes a driver assistance system 12, a speed measurement system 34 and a radar system 14.
  • the radar system 14 is functionally connected to the driver assistance system 12, so that information obtained with the radar system 14 over a monitoring area 16 in the direction of travel in front of the vehicle 10 is transmitted to the Driver assistance system 12 can be transmitted.
  • functions of the vehicle 10 for example driving functions, can be executed autonomously or partially autonomously.
  • the radar system 14 is arranged, for example, in the front bumper of the vehicle 10 and is directed into the monitoring area 16 .
  • the radar system 14 can also be arranged at a different point of the vehicle 10 and aligned differently.
  • Objects 18 in the surveillance area 16 can be detected with the radar system 14 .
  • the objects 18 can be stationary or moving objects, for example vehicles, people, animals, plants, obstacles, bumps in the road, for example potholes or stones, road boundaries, traffic signs, free spaces, for example parking spaces, precipitation or the like.
  • radar signals 20 are sent into the monitoring area 16 using the radar system 14 .
  • Radar signals 20 reflected at object targets 22 from objects 18 in the direction of radar system 14 are received by radar system 14 as echo signals 24 .
  • Object information for example a distance R, a radial velocity VR, elevation variables, for example an elevation angle 0 and an elevation height h, and an azimuth of the respective object target 22 relative to reference ranges of the radar system 14 and thus relative to the vehicle 10, can be determined from the received echo signals 24 become.
  • An object target 22 is an area of an object 18 on which radar signals 20 can be reflected.
  • An object 18 can have one or more such object targets 22 . If the object 18 has a plurality of object targets 22, radar signals 20 can also be reflected differently at these, for example in different directions.
  • the corresponding coordinate axes of an orthogonal xyz coordinate system are shown in FIGS.
  • the xyz coordinate system is shown in a three-dimensional representation in FIGS.
  • the x-axis of the xyz coordinate system runs, for example, parallel to a vehicle longitudinal axis of vehicle 10 along the plane below vehicle 10, which is spanned by the contact surfaces of the tires in the operating position of vehicle 10.
  • the y-axis runs parallel to a vehicle transverse axis of the vehicle 10 viewed in the direction of travel to the left.
  • the z-axis runs parallel to a vehicle vertical axis of the vehicle 10 spatially upwards.
  • a projection of a coordinate origin 26 of the xyz coordinate system in the direction of the z-axis lies between a transmitting antenna Tx and the receiving antennas Rx of the radar system 14.
  • the coordinate origin 26 forms a fixed reference point for the radar system 14.
  • the respective phase centers 28 of the transmitting antennas Tx and the receiving antennas Rx are arranged on an imaginary antenna axis 30, as shown in FIG.
  • the antenna axis 30 runs parallel to the y-axis and parallel to the xy plane of the xyz coordinate system.
  • the x-y plane of the x-y-z coordinate system is the elevation reference plane 31 of the radar system 14.
  • the x-z plane of the x-y-z coordinate system is the azimuth reference plane 33 of the radar system 14.
  • the azimuth reference plane 33 is perpendicular to the elevation reference plane 31.
  • the radar system 14 has three receiving antennas Rx and one transmitting antenna Tx.
  • FIG. 3 shows the transmitting antenna Tx and the receiving antennas Rx in a front view viewed from the monitoring area 16 in the direction of the x-axis.
  • the receiving antennas Rx and the transmitting antenna Tx are each functionally connected to a control and evaluation device 32 of the radar system 14 .
  • the control and evaluation device 32 is shown as an example above the transmitting antenna Tx and the receiving antennas Rx. It can also be arranged elsewhere.
  • driver assistance system 12 and speed measurement system 34 are shown in FIG.
  • the transmitting antenna Tx for transmitting radar signals 20 can be controlled with the control and evaluation device 32 .
  • echo signals 24 can be received and converted into electrical signals.
  • the electrical signals can be transmitted to the control and evaluation device 32 and processed. For example, object information about the detected objects 18 can be determined from the electrical signals.
  • the control and evaluation device 32 is connected to the driver assistance system 12 .
  • Information determined with the control and evaluation device 32 for example the object information on detected objects 18 , can be transmitted to the driver assistance system 12 via the connection.
  • the transmitted information can be used with the driver assistance system 12 for the autonomous or semi-autonomous operation of the vehicle 10 .
  • a travel speed VH of the vehicle 10 can be determined with the speed measuring system 34 .
  • the speed measurement system 34 is connected to the control and evaluation device 32, for example.
  • the determined speed of travel VH can thus be transmitted directly to the radar system 14 .
  • the speed measuring system 34 can also be connected to the radar system 14 and/or the driver assistance system 12 indirectly, for example via a control unit of the vehicle 10 .
  • the direction of a detected object target 22 relative to the radar system 14 is characterized by the azimuth ⁇ t> and an elevation variable in the form of an elevation angle ⁇ .
  • the azimuth ⁇ t> and the elevation angle ⁇ of the object target 22 of the object 18 are shown in FIG.
  • FIG. 4 shows the coordinate system 26 in connection with a spherical representation.
  • the azimuth ⁇ t> is the angle between the azimuth reference plane 33 and the orthogonal projection of the connection axis between the object target 22 and the coordinate origin 26 onto the elevation reference plane 31.
  • the elevation angle 0 is the angle between the elevation reference plane 31 and the connection axis of the Object target 22 with the coordinate origin 26.
  • the azimuth ⁇ t> and the elevation angle 0 characterize the direction of the object target 22 in relation to respective reference planes, namely the elevation reference plane 31 and the azimuth reference plane 33.
  • the direction of a detected object target 22 can be determined with the radar system 14 from the measurement of the phase differences of the received echo signals 24 between the three receiving antennas Rx. Due to the linear arrangement of the receiving antennas Rx, a first directional variable in the form of a first directional angle ⁇ can be determined from the phase differences.
  • the first directional angle a is the angle between the x-axis and the connecting axis between the detected object target 22 and the coordinate origin 26.
  • the x-axis is a fixed first reference axis of the radar system 14 for the first directional angle a. Only if the detected object target 22 is in the elevation reference plane 31, ie at the same elevation h as the radar system 14, does the first directional angle a correspond to the azimuth ⁇ t>.
  • the elevation height h is the height above the elevation reference plane 31 , ie the distance from the elevation reference plane 31 .
  • the elevation height h and the elevation angle ⁇ are each elevation variables which also characterize the position of the object target 12 .
  • a second directional variable in the form of a second directional angle ⁇ can be determined from the first directional angle ⁇ , the radial speed VR and the distance R of the detected object target 22 .
  • the distance R is the distance of the detected object target 22 to the reference point of the radar system 14, namely the coordinate origin 26.
  • the second directional angle ß is the angle between the y-axis and the connecting axis between the object target 22 and the coordinate origin 26.
  • the y-axis is a second fixed reference axis of the radar system for the second azimuth angle ⁇ .
  • the method for determining the elevation variables, namely the elevation angle 0 and the elevation height h, and the azimuth for an object target 22 is explained below.
  • radar signals 20 are transmitted with the transmitting antenna Tx of the radar system 14 .
  • the echo signals 24, which are reflected at the object target 22, are received with the receiving antennas Rx and converted into electrical signals.
  • the first directional angle a is determined from the phase differences between the echo signals 24 received with the individual receiving antennas Rx. Furthermore, the radial speed V and the distance R are determined from the echo signals 24 . In addition, the speed of travel VH of the vehicle 10 is determined with the speed measuring system 34 . Thereafter, it is checked whether the detected object target 22 is stationary or moving. For this purpose, a test term in the form of a difference between the radial speed VR and the product of the travel speed VH and the cosine of the first directional angle a is compared with a first limit value TH1 and a second limit value TH2 as follows:
  • the limit values TH1 and TH2 are specified, for example, taking into account the tolerances when determining the distance R, the radial speed V and the locomotion speed VH.
  • the lower limit TH1 can be a negative value.
  • the upper limit value TH2 can be a positive value.
  • one of the limit values TH can relate to a radial velocities VR of object targets 22 which are moving away from the radar system 14 .
  • the other limit value TH can relate to radial velocities VR of object targets 22 moving towards the radar system 14 .
  • the value of the test term is between the two limit values TH1 and TH2, it is assumed that the object target 22 is stationary.
  • the following determination of the azimuth ⁇ T> and the elevation angle ⁇ can be carried out more precisely than is possible with moving object targets 22. In order to obtain a more accurate result, the method is therefore only continued with the object target 22 if it is stationary. If the check with the check term shows that the object target 22 is not stationary, the method for determining the azimuth ⁇ T> and the elevation variables, namely the elevation angle 0 and the elevation height h, is carried out again with a different object target 22 .
  • the second azimuth angle ⁇ is determined from the first azimuth angle ⁇ , the distance R, the radial speed VR and the forward speed VH. This can be done by calculation or by using a translation table 36 . The calculation is carried out, for example, using the following trigonometric relationship:
  • V R V H sin ß cos a
  • the calculation can be carried out using appropriate software and/or hardware means.
  • the means can be integrated in the control and evaluation device 32, for example.
  • the second directional angle ⁇ can be determined using conversion tables 36 .
  • a group of conversion tables 36 is stored in the control and evaluation device.
  • a visualization of one of these conversion tables 36 is shown as an example in FIG.
  • the conversion tables 36 can be determined in advance, for example in the course of a calibration of the radar system 14, for example at the end of the production line, and stored in appropriate storage media, for example the control and evaluation device 32.
  • Each conversion table 36 of the group corresponds to a specific travel speed VH and contains the relationship between the first azimuth angle ⁇ , the second azimuth angle ⁇ and the radial speed VR at this travel speed VH.
  • the conversion tables 36 can each have, for example, a plurality of triplets each with a first direction angle ⁇ , a radial velocity VR and the corresponding second direction angle ⁇ .
  • the first directional angles ⁇ are shown in the horizontal direction and the second directional angles ⁇ are shown in the vertical direction.
  • the different radial speeds VR are indicated in the corresponding fields.
  • the values from 10° to 70° in steps of ten are only shown as examples for the first directional angle a and the values from 10° to 70° in steps of ten for the second directional angle ⁇ .
  • Radial speeds VR with values from 5 m/s to 20 m/s are given as examples.
  • the conversion table 36 can contain significantly more values for the first directional angles ⁇ and the second directional angles ⁇ .
  • For the radial velocities V significantly more different, negative and positive values can be included.
  • the conversion table 36 suitable for the speed of movement VH is used to determine the second directional angle ⁇ . If there is no suitable conversion table 36 for the current travel speed VH, the conversion table 36 for the travel speed that is closest to the current travel speed VH can be used. The corresponding second directional angle ⁇ for the already determined first directional angle ⁇ and the already determined radial speed VR is taken from the corresponding conversion table 36 .
  • the azimuth ⁇ t> and the elevation angle 0 are determined trigonometrically from the first directional angle ⁇ , the second directional angle ß and the distance R.
  • the azimuth ⁇ t> and the elevation angle 0 can be determined from the first directional angle ⁇ , the second directional angle ⁇ and the distance R using, for example, one or more suitable conversion tables.
  • the elevation height h of the object target 22 is calculated from the following mathematical relationship:
  • R is the distance
  • ⁇ is the first directional angle
  • ß is the second directional angle of the object target 12.
  • the elevation height h can also be determined from the elevation angle 0 and the distance R instead of from the first directional angle ⁇ , the second directional angle ⁇ and the distance R.

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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 procédé pour déterminer au moins une grandeur d'élévation (Θ, h) d'une zone cible (22) d'un objet (18), qui est détectée par un système radar, en particulier d'un véhicule, par rapport à un plan de référence d'élévation (31), un système radar et un véhicule équipé d'au moins un système radar. Selon le procédé, des signaux radar sont envoyés par au moins une antenne du système radar et des signaux d'écho provenant de signaux radar réfléchis sur la zone cible de l'objet sont reçus par au moins deux antennes. Les centres de phase respectifs des antennes sont disposés le long d'un axe d'antennes imaginaire qui s'étend parallèlement au plan de référence d'élévation (31). Une vitesse de déplacement (VH) du système radar est déterminée. Le système radar détermine, au moyen des signaux d'écho (24) reçus, une vitesse radiale (VR) de ladite au moins une zone cible (22) de l'objet par rapport au système radar. Le système radar détermine au moyen des signaux d'écho reçus une première grandeur de direction (α) qui caractérise la direction de la zone cible (22) de l'objet par rapport à un premier axe de référence (y) fixe par rapport au système radar. Au moyen de la première grandeur de direction (α), de la vitesse radiale (VR) et de la vitesse de déplacement (VH), on détermine une deuxième grandeur de direction (β) qui caractérise la direction de la zone cible (22) de l'objet par rapport à un deuxième axe de référence (x) fixe par rapport au système de radar. Au moins une grandeur d'élévation (Θ, a) de la zone cible (22) de l'objet est déterminée au moyen d'au moins une des grandeurs de direction (α, β).
EP22783479.3A 2021-09-16 2022-09-13 Procédé pour déterminer au moins une grandeur d'élévation d'une zone cible d'un objet au moyen d'un système radar de véhicule automobile Pending EP4402512A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021123942.7A DE102021123942A1 (de) 2021-09-16 2021-09-16 Verfahren zur Bestimmung wenigstens eine Elevationsgröße eines Objektziels eines Objekts, Radarsystem und Fahrzeug mit wenigstens einem Radarsystem
PCT/EP2022/075341 WO2023041499A1 (fr) 2021-09-16 2022-09-13 Procédé pour déterminer au moins une grandeur d'élévation d'une zone cible d'un objet au moyen d'un système radar de véhicule automobile

Publications (1)

Publication Number Publication Date
EP4402512A1 true EP4402512A1 (fr) 2024-07-24

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EP22783479.3A Pending EP4402512A1 (fr) 2021-09-16 2022-09-13 Procédé pour déterminer au moins une grandeur d'élévation d'une zone cible d'un objet au moyen d'un système radar de véhicule automobile

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EP (1) EP4402512A1 (fr)
JP (1) JP2024533580A (fr)
KR (1) KR20240058175A (fr)
CN (1) CN117980777A (fr)
DE (1) DE102021123942A1 (fr)
WO (1) WO2023041499A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102018000517A1 (de) 2018-01-23 2018-08-23 Daimler Ag Verfahren zur radarbasierten Vermessung und/oder Klassifizierung von Objekten in einer Fahrzeugumgebung
DE102018218003A1 (de) * 2018-10-22 2020-04-23 Zf Friedrichshafen Ag Verfahren, Computerprogramm und Messsystem für die Auswertung von Bewegungsinformationen
US11175382B2 (en) * 2019-06-14 2021-11-16 GM Global Technology Operations LLC Elevation angle estimation in horizontal antenna array with doppler and velocity measurements

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KR20240058175A (ko) 2024-05-03
DE102021123942A1 (de) 2023-03-16
CN117980777A (zh) 2024-05-03
JP2024533580A (ja) 2024-09-12
WO2023041499A1 (fr) 2023-03-23

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