JP6416391B2 - Fmcwレーダーを用いて対象物の位置を決定する方法 - Google Patents
Fmcwレーダーを用いて対象物の位置を決定する方法 Download PDFInfo
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- JP6416391B2 JP6416391B2 JP2017518415A JP2017518415A JP6416391B2 JP 6416391 B2 JP6416391 B2 JP 6416391B2 JP 2017518415 A JP2017518415 A JP 2017518415A JP 2017518415 A JP2017518415 A JP 2017518415A JP 6416391 B2 JP6416391 B2 JP 6416391B2
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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
- G01S13/50—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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
-
- 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
- G01S7/414—Discriminating targets with respect to background clutter
-
- 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
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/356—Receivers involving particularities of FFT processing
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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)
Description
傾斜波状に周波数変調したレーダー信号を送信し、該レーダー信号の変調パターンが、異なる勾配を備えた、互いに連続する複数の傾斜波を有し、
受信したレーダーエコーを、送信した信号とミックスダウンさせて、ベースバンドを形成させ、
ベースバンド信号を傾斜波ごとに記録して、それぞれのスペクトルに変換し、
前記スペクトル内に見いだされた各信号ピークに対しノイズ判定を行って、レーダー目標物とノイズまたはクラッターとを区別し、
異なる傾斜波勾配に対し得られた前記スペクトル内で互いに対応しあっている前記信号ピークの周波数位置を比較することにより、前記レーダー目標物の距離Rと相対速度vとを特定する、
ようにした前記方法に関するものである。
さらに、本発明は、上記方法を実施するために形成された、特に自動車用のレーダーセンサに関する。
変調パターンが、同じ勾配を備えた複数の傾斜波から成る少なくとも1つのファミリーを有し、
同じ勾配を備えた前記傾斜波の各ファミリーに対するベースバンド信号を、2次元周波数空間で次のようなスペクトルに変換し、すなわち第1の周波数変数fkが各傾斜波内でのサンプリングインデックスkを表し、第2の周波数変数fjが傾斜波インデックスjを表すような前記スペクトルに変換し、
ノイズ判定を、前記周波数空間の2つの次元内で実施し、
前記距離Rと前記相対速度vとの特定を、前記第1の周波数変数fkをベースにして行う、
ことによって解決される。
24,26,28 傾斜波
30,32 信号ピーク
34 クラッター
fk 第1の周波数変数
fj ドップラー周波数(第2の周波数変数)
R 距離
v 相対速度
Claims (6)
- FMCWレーダーを用いて対象物(12,14)の位置を決定する自動車内のレーダーセンサのための方法であって、
傾斜波状に周波数変調したレーダー信号を送信し、該レーダー信号の変調パターンが、異なる勾配を備えた、互いに連続する複数の傾斜波(24,26,28)を有し、
受信したレーダーエコーを、送信した信号とミックスダウンさせて、ベースバンドを形成させ、
ベースバンド信号を傾斜波ごとに記録して、それぞれのスペクトルに変換し、
前記スペクトル内に見いだされた各信号ピーク(30,32)に対しノイズ判定を行って、レーダー目標物とノイズまたはクラッター(34)とを区別し、
異なる傾斜波勾配に対し得られた前記スペクトル内で互いに対応しあっている前記信号ピークの周波数位置を比較することにより、前記レーダー目標物の距離Rと相対速度vとを特定する、
ようにした前記方法において、
前記変調パターンが、同じ勾配を備えた複数の傾斜波(24)から成る少なくとも1つのファミリーを有し、
同じ勾配を備えた前記傾斜波(24)の各ファミリーに対する前記ベースバンド信号を、2次元周波数空間で次のようなスペクトルに変換し、すなわち第1の周波数変数fkが各傾斜波内でのサンプリングインデックスkを表し、第2の周波数変数fjが傾斜波インデックスjを表すような前記スペクトルに変換し、
前記ノイズ判定を、前記周波数空間の2つの次元内で実施し、
前記距離Rと相対速度vとの特定を、前記第1の周波数変数fkをベースにして行い、
同じ勾配を備えた前記傾斜波(24)に対する前記ベースバンド信号を、前記傾斜波インデックスjの非一定関数である窓関数(40)を用いてフィルタリングし、
前記窓関数(40)をフーリエ変換したものである緩衝関数(42)の極小値が、前記固有速度に属するドップラー周波数に対応するように、前記窓関数(40)を前記自動車の固有速度に依存して変化させる、
ことを特徴とする方法。 - 前記ノイズ判定が2次元CFAR判定である、請求項1に記載の方法。
- 前記ノイズ判定がOS−CFAR判定である、請求項2に記載の方法。
- 互いにほぼ並んでいる信号ピーク(30,32)の分離を、前記2次元周波数空間内でのこれら信号ピークの位置に基づいて行う、請求項1から3のいずれか一つに記載の方法。
- 前記第1の周波数変数fkをベースにして前記距離Rと前記相対速度vとを特定するため、異なる勾配を備えた傾斜波(24,26,28)のファミリーで見いだされた前記信号ピークを互いに関連付け、間違った関連付けによって生じる見かけの目標物(46,48)と照合区別するため、該見かけの目標物に対応する前記2次元スペクトル内での場所(46’,48’)を検査する、請求項1から4のいずれか一つに記載の方法。
- 請求項1から5までのいずれか一つに記載の方法が実現されている制御・評価装置(22)を備えたFMCWレーダーセンサ。
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Application Number | Priority Date | Filing Date | Title |
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DE102014212390.9A DE102014212390A1 (de) | 2014-06-27 | 2014-06-27 | Verfahren zur Objektortung mit einem FMCW-Radar |
DE102014212390.9 | 2014-06-27 | ||
PCT/EP2015/058893 WO2015197229A1 (de) | 2014-06-27 | 2015-04-24 | Verfahren zur objektortung mit einem fmcw-radar |
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JP2017522577A JP2017522577A (ja) | 2017-08-10 |
JP6416391B2 true JP6416391B2 (ja) | 2018-10-31 |
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US (1) | US10401486B2 (ja) |
EP (1) | EP3161517B1 (ja) |
JP (1) | JP6416391B2 (ja) |
DE (1) | DE102014212390A1 (ja) |
WO (1) | WO2015197229A1 (ja) |
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-
2014
- 2014-06-27 DE DE102014212390.9A patent/DE102014212390A1/de not_active Withdrawn
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2015
- 2015-04-24 EP EP15719661.9A patent/EP3161517B1/de active Active
- 2015-04-24 JP JP2017518415A patent/JP6416391B2/ja active Active
- 2015-04-24 US US15/320,149 patent/US10401486B2/en active Active
- 2015-04-24 WO PCT/EP2015/058893 patent/WO2015197229A1/de active Application Filing
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JP2017522577A (ja) | 2017-08-10 |
US10401486B2 (en) | 2019-09-03 |
EP3161517B1 (de) | 2020-08-19 |
DE102014212390A1 (de) | 2015-12-31 |
EP3161517A1 (de) | 2017-05-03 |
US20170131397A1 (en) | 2017-05-11 |
WO2015197229A1 (de) | 2015-12-30 |
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