JP6220454B2 - 自動車のためのレーダセンサ - Google Patents
自動車のためのレーダセンサ Download PDFInfo
- Publication number
- JP6220454B2 JP6220454B2 JP2016537169A JP2016537169A JP6220454B2 JP 6220454 B2 JP6220454 B2 JP 6220454B2 JP 2016537169 A JP2016537169 A JP 2016537169A JP 2016537169 A JP2016537169 A JP 2016537169A JP 6220454 B2 JP6220454 B2 JP 6220454B2
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- Japan
- Prior art keywords
- radar sensor
- phase difference
- antenna
- radar
- measurement cycle
- 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.)
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- 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
- G01S13/426—Scanning radar, e.g. 3D radar
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- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/16—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived sequentially from receiving antennas or antenna systems having differently-oriented directivity characteristics or from an antenna system having periodically-varied orientation of directivity characteristic
- G01S3/20—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived sequentially from receiving antennas or antenna systems having differently-oriented directivity characteristics or from an antenna system having periodically-varied orientation of directivity characteristic derived by sampling signal received by an antenna system having periodically-varied orientation of directivity characteristic
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/38—Systems for determining direction or deviation from predetermined direction using adjustment of real or effective orientation of directivity characteristic of an antenna or an antenna system to give a desired condition of signal derived from that antenna or antenna system, e.g. to give a maximum or minimum signal
- G01S3/44—Systems for determining direction or deviation from predetermined direction using adjustment of real or effective orientation of directivity characteristic of an antenna or an antenna system to give a desired condition of signal derived from that antenna or antenna system, e.g. to give a maximum or minimum signal the adjustment being varied periodically or continuously until it is halted automatically when the desired condition is attained
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
- G01S13/4445—Monopulse radar, i.e. simultaneous lobing amplitude comparisons monopulse, i.e. comparing the echo signals received by an antenna arrangement with overlapping squinted beams
-
- 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
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
- G01S13/4463—Monopulse radar, i.e. simultaneous lobing using phased arrays
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Description
S2=S1*exp(i2πδ)
S2=S1*exp(i2π(δ+Δ))
10a,10b 下位アレイ
12 アンテナ素子
16,18,20 供給装置
26 評価装置
28 制御装置
S1,S2 送信信号
α エレベーション角
δ ベース位相差
Δ 一定の値
P1,P2 レベル
Claims (5)
- 自動車のためのレーダセンサであって、アンテナ素子(12)の直線状の配置によって形成される少なくとも1つのアレイアンテナ(10)と、調整可能な位相関係を有する送信信号(S1,S2)を前記アンテナ素子(12)へ供給するための供給装置(16,18,20)と、前記供給装置を制御するための制御装置(28)と、受信されたレーダエコーを評価して物体の角解像度のある位置測定をするための評価装置(26)とを有している、そのようなレーダセンサにおいて、前記アレイアンテナ(10)は入れ子になっていない少なくとも2つの下位アレイ(10a,10b)に分割されていること、前記供給装置(16,18,20)は各々の前記下位アレイの前記アンテナ素子(12)に同位相の送信信号を供給するように構成されており、それに対して異なる前記下位アレイのための送信信号は調整可能な位相差を有していること、前記制御装置(28)は調整可能な位相差を測定サイクルごとに周期的に変化させるように構成されており、それにより送信信号(S1,S2)は1つの測定サイクルではベース位相差(δ)を有するとともに別の測定サイクルでは前記ベース位相差に対して一定の値(Δ)だけ相違する位相差を有するようになっていること、さらに前記制御装置(28)は受信されたレーダエコーのレベル(P1,P2)を参照してそれぞれの測定サイクルの間のレベル差が最大化されるように前記ベース位相差(δ)を調整するように構成されていることを特徴とするレーダセンサ。
- 少なくとも1つの前記アレイアンテナ(10)は垂直方向に向いている、請求項1に記載のレーダセンサ。
- 前記制御装置(28)は自動車への前記レーダセンサの取付時の調節誤差を補正するベース位相差δの標準値を保存するように構成されている、請求項1に記載のレーダセンサ。
- 前記制御装置(28)は自動車への前記レーダセンサの取付時の調節誤差を補正するベース位相差δの標準値を保存するように構成されている、請求項2に記載のレーダセンサ。
- 前記制御装置(28)は多数の物体について測定されたエレベーション角(α)の統計的な評価によって保存される前記標準値を決定するように構成されている、請求項4に記載のレーダセンサ。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013216970.1 | 2013-08-27 | ||
DE102013216970.1A DE102013216970A1 (de) | 2013-08-27 | 2013-08-27 | Radarsensor für Kraftfahrzeuge |
PCT/EP2014/063208 WO2015028167A1 (de) | 2013-08-27 | 2014-06-24 | Radarsensor für kraftfahrzeuge |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016534349A JP2016534349A (ja) | 2016-11-04 |
JP6220454B2 true JP6220454B2 (ja) | 2017-10-25 |
Family
ID=50980307
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016537169A Active JP6220454B2 (ja) | 2013-08-27 | 2014-06-24 | 自動車のためのレーダセンサ |
Country Status (6)
Country | Link |
---|---|
US (1) | US10018715B2 (ja) |
EP (1) | EP3039444B1 (ja) |
JP (1) | JP6220454B2 (ja) |
CN (1) | CN105492921B (ja) |
DE (1) | DE102013216970A1 (ja) |
WO (1) | WO2015028167A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101649987B1 (ko) * | 2015-04-13 | 2016-08-23 | 주식회사 만도 | 장착 각도 판별 장치 및 그 판별 방법 |
TWI598611B (zh) * | 2015-11-25 | 2017-09-11 | 啟碁科技股份有限公司 | 雷達天線系統 |
EP3285334A1 (en) * | 2016-08-15 | 2018-02-21 | Nokia Solutions and Networks Oy | Beamforming antenna array |
DE102016224900A1 (de) * | 2016-12-14 | 2018-06-14 | Robert Bosch Gmbh | MIMO-Radarsensor für Kraftfahrzeuge |
JP6924046B2 (ja) * | 2017-03-08 | 2021-08-25 | 株式会社デンソーテン | レーダ装置および物標高さ推定方法 |
DE102018200751A1 (de) * | 2018-01-18 | 2019-07-18 | Robert Bosch Gmbh | Radarvorrichtung und Verfahren zum Betreiben einer Radarvorrichtung |
BE1026107B1 (fr) * | 2018-03-16 | 2019-10-14 | Schreder S.A. | Luminaire à détection de défaut d’alimentation |
DE102018206535A1 (de) * | 2018-04-27 | 2019-10-31 | Robert Bosch Gmbh | Radarsensoreinrichtung |
DE102018210070A1 (de) * | 2018-06-21 | 2019-12-24 | Robert Bosch Gmbh | Verfahren zur Kalibrierung eines MIMO-Radarsensors für Kraftfahrzeuge |
KR20200067629A (ko) * | 2018-12-04 | 2020-06-12 | 삼성전자주식회사 | 레이더 데이터를 처리하는 장치 및 방법 |
DE102019110525B4 (de) | 2019-04-23 | 2021-07-29 | Infineon Technologies Ag | Kalibrierung eines radarsystems |
KR102288673B1 (ko) * | 2020-12-28 | 2021-08-12 | 주식회사 비트센싱 | 수평 간격 및 수직 간격으로 배치되는 복수의 안테나를 포함하는 레이더 장치 |
CN115932755A (zh) * | 2021-08-24 | 2023-04-07 | 浙江宇视科技有限公司 | 交通雷达俯仰角安装误差校准方法、装置及存储介质 |
EP4174516A1 (en) * | 2021-10-26 | 2023-05-03 | Veoneer Sweden AB | Radar transceiver calibration |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4875188A (ja) * | 1972-01-12 | 1973-10-09 | ||
JPS62242876A (ja) * | 1986-04-15 | 1987-10-23 | Mitsubishi Electric Corp | 方探装置 |
JPH0611517Y2 (ja) * | 1986-08-02 | 1994-03-23 | 株式会社光電製作所 | 簡易型方向探知装置 |
JP3240360B2 (ja) | 1992-06-25 | 2001-12-17 | キヤノン株式会社 | 加速度検知装置 |
DE10256524A1 (de) * | 2002-12-04 | 2004-07-01 | Robert Bosch Gmbh | Einrichtung zur Messung von Winkelpositionen |
JP2006201013A (ja) * | 2005-01-20 | 2006-08-03 | Hitachi Ltd | 車載用レーダ |
DE102005049772A1 (de) * | 2005-10-18 | 2007-04-19 | Robert Bosch Gmbh | Bewegungssensor sowie Verfahren zu seinem Betrieb |
US7737879B2 (en) * | 2006-06-09 | 2010-06-15 | Lockheed Martin Corporation | Split aperture array for increased short range target coverage |
DE102006032539A1 (de) | 2006-07-13 | 2008-01-17 | Robert Bosch Gmbh | FMCW-Radarsensor |
JP2008294540A (ja) * | 2007-05-22 | 2008-12-04 | Mitsubishi Electric Corp | アンテナビーム軸調整装置およびレーダ装置 |
JP2010071865A (ja) | 2008-09-19 | 2010-04-02 | Fujitsu Ten Ltd | 信号処理装置、及びレーダ装置。 |
DE102010064348A1 (de) | 2010-12-29 | 2012-07-05 | Robert Bosch Gmbh | Radarsensor für Kraftfahrzeuge |
CN103430459A (zh) * | 2011-02-07 | 2013-12-04 | 英特尔公司 | 来自多个基础设施节点的传送的共定相 |
-
2013
- 2013-08-27 DE DE102013216970.1A patent/DE102013216970A1/de not_active Withdrawn
-
2014
- 2014-06-24 CN CN201480047910.3A patent/CN105492921B/zh active Active
- 2014-06-24 EP EP14731972.7A patent/EP3039444B1/de active Active
- 2014-06-24 US US14/914,835 patent/US10018715B2/en active Active
- 2014-06-24 JP JP2016537169A patent/JP6220454B2/ja active Active
- 2014-06-24 WO PCT/EP2014/063208 patent/WO2015028167A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
DE102013216970A1 (de) | 2015-03-05 |
WO2015028167A1 (de) | 2015-03-05 |
CN105492921A (zh) | 2016-04-13 |
US20160209504A1 (en) | 2016-07-21 |
EP3039444A1 (de) | 2016-07-06 |
US10018715B2 (en) | 2018-07-10 |
EP3039444B1 (de) | 2019-10-23 |
CN105492921B (zh) | 2019-03-01 |
JP2016534349A (ja) | 2016-11-04 |
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